Was super surprised to find that after exiting a freeway while using AP with Autosteer, the car maintained the same 55MPH speed with no warnings and worked great! The speed limit was 45MPH so I lowered the speed to 51MPH and the car handled several medium sized intersections very well - it did struggle with a large intersection (6 lane road) no I had to take over but again, very impressed with local street performance...feels very close to release ready!