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HW3 improving regular AP?

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I just took delivery of a 2021 M3LR. This is my first Tesla with HW3 (previously had 2016 model x and 2019 model 3). I did not purchase FSD with my new 3, but the regular highway AP felt smoother to me than my other older Teslas. Is that normal? Does HW2.5 and HW3 run different AP on highways? Or is this more about no longer having the radar rather than HW3?