Had a minor issue with my HW2 S75D and the Service Center gave me a P85D with AP1 as a loaner, so it was my first experience with AP1 (aside from super brief highway use during the test drive when buying my car). Experience was fantastic...system worked way better than I imagined, especially on local roads. Car made it through intersections with no issues, unlike HW2, and overall was just pretty amazing to use. I was surprised to see that Autosteering still worked even above +5MPH on local streets if you were actively accelerating (vs being on TACC). Other features that were nice to see were things like Emergency Braking and Lane Departure Warning, neither of which exist on the current HW2 cars. As crazy as it seems, I actually got back home and looked online to see if there are still AP1 cars available in Midnight Silver, with the facelift, and black Next Gen seats...that's how much I liked it. Like I said, crazy thoughts...as HW2 *should* be able to do everything this car did, and more...key word being should.