I only have SR+ version. I only get cruise control and autosteer when I activate autopilot. But sometimes when autopilot is activated, autosteer took over and start to steer more toward highway median (towards left) than I usually like. I sometimes get freak out , and try to correct back myself by forcing steer wheel toward the right away from the highway median. By doing so, I deactivated autopilot. Then I have reactivate again. I find it sometimes annoy. Do you guys have such problem? How confident are you with auto steer?