The lane issues are awful. It should be planing at least one turn ahead. If it makes a left, and the next turn, say a mile down the road is a right, it should get into the far right lane AHEAD of time for that turn. Not at the last second having to cross two lanes of traffic to get into the correct turn lane. This is for four/six lane roads with turn lanes obviously, but you get the idea. If I manually drive, and know the route, I always get into the closest lane to where I’m going to be turning to avoid having to merge at the last moment. It’s common sense.