I also have a 2020 Toyota RAV4 Hybrid with adaptive cruise and lane keep assist and while the lane keeping isn't nearly as good as Tesla's, the adaptive cruise is flawless and has made the same drive our Model 3 struggled with many times without a single issue. But our Model 3 also didn't have issues (rarely, if any) back when the radar in it was still active, which I think is what burns me most.Go test drive some competition and be surprised how competent they are on the highway by comparison.
If you have a functioning Tesla already, there's no urgency to take delivery of a new Tesla that invests you further into their ADAS system.
Tesla is far from the only game in town nor a leader in highway ADAS anymore.
I ordered the Y prior to taking that drive in the 3 and realizing how poor Tesla Vision would be out on that drive. My intent is to downsize from the 3 and RAV4 to one (electric) vehicle, and unfortunately if I want to go electric now, with where I drive in North Dakota I need access to both Tesla superchargers and the scattered 50kW CCS chargers. Hopefully in a couple years' time there will be 150-350 kW CCS chargers and Tesla will have added their Magic Docks to the superchargers and then I'll have more freedom in EV brands, but if I want to downsize right now then the Y is my best option.