I turn on Minimize Lane Changes* so that the only times the car gets to change lanes is when it has to follow its route. When I really don't want to mess with it at all, I'll turn on FSD without a destination. Then it follows whatever road or highway I'm on and never changes lanes unless I tell it to. When I'm ready to leave the current road or highway, I disengage FSD, move to the new road and engage again. Like I said, it's a tool. It has useful functions, and we can use them as we see fit.
*Minimize Lane Changes is accessed by making any change to your preferred driving 'assertiveness'. So right click the right control on the steering wheel and a little window will pop up at the bottom left of the center display. It will show you your changed assertiveness setting and also show a button for Minimize Lane Changes. Make sure that's on and you're good to go. Note that the setting reverts to "off" at the start of each drive, so you have to set it each time.