One thing that can be a bit alarming if you're not expecting it is that when the car is in autopilot, but you disengage it by yanking the wheel, the car remains in TACC (i.e. only autosteer is canceled). In situations where you're at highway speed behind a car well under your set speed, and then for example you take an exit, the car will pretty quickly accelerate back up to the set speed, not requiring the same "goosing" that it seems to need at lower speeds, or at least not feeling as such because you're not expecting the car to accelerate at all!
I also wouldn't describe this as a "lunge", but it is a bit uncomfortable if you're not expecting it.