I've been driving with TACC and autosteer quite a bit in busy LA traffic. I find that when someone cuts in at low speed the car doesn't see it coming. Every time I have to take control or the car will rear end/ clip the car cutting in. I have my distance set to 5. But even with 8.1 the car doesn't "see" or post the car in adjacent lane on the screen (not saying it needs to but it's not responding to the car).