With version 2019.40.50.1 (and later) I have noticed significant improvement in lane change in autopilot, and navigate on autopilot. Previously, if I initiated a lane change with turn signal or stalk, it would take about 5 seconds to "think it over", sometimes slowing down to "think about it" if a car in adjacent lane. Now it jumps right to the lane change when clear - without hesitation. One of my biggest pet peeves with autopilot is now settled. Good job!