I ran this test this morning for the sake of this thread.
I went to an area on the expressway where I know the exit lane is improperly marked where my P3D ALWAYS centers itself in a widening lane that eventually exits on AP.
I turned on AP ( no NoA at all ).
Sure enough my car veers to the right and then sees what the situation is and moves back to the left hand ( original ) lane of the split. I can see where the car recognized the lane split because the right blue lane line jerked over to the left. Then the car re-centered itself to the left hand non -exit lane.
I turned around and tried the whole thing again with FSD / NoA on. Same exit....my car turned on the left turn signal and hugged the left lane marker without ANY attempt to center itself. The left turn signal came on for about 4 blinks and turned off.
Conclusion: AP and NoA didn't do the same thing. <------- and this is the beta version of both.
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If anyone wants to test this in the Chicagoland area......
Get on I88 going east from Naperville Il.
When you test with FSD put in a destination of the Bollingbrook SuperCharger. That will cause FSD to get into the right lane to take the exit to 355. Once you are on the ramp between 88 and 355 there is a split on the right towards Ogden.
AP will try and center itself between the Ogden exit and the route to the Bolingbrook Supercharger.
FSD will temporarialy turn on the left turn signal to show the people behind you - and will stay left with no attempt to center itself at all.
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Most importantly - NoA will not try and center itself in lanes like AP does when it knows what the route is.
That's one such non-communicated FSD advantage that TESLA does not mention. It just works.