This is the exact situation in which the Nissan implementation of Mobileye has it all over Tesla's AP IMHO. With Tesla, AutoPilot is an all-or-nothing deal. Either AP is steering or you are, but never both. In fact, some physical force is required to wrest control of the car away from AutoPilot. And, once you have taken over, AP is disabled permanently until you manually reactivate it.
With Nissan's ProPilot Assist, the steering is perfectly natural and both the driver and ProPilot Assist can be steering at the same time without totally disengaging ProPilot Assist. It's more like a Driver's Ed car with two steering wheels where both can make steering adjustments as necessary to avoid a problem. You can even change lanes manually, and ProPilot Assist will reactivate as soon as it has clear lane markers again.
Honda Lane Keep Assist is the same. It works with the driver, and will re-engage automatically after lane change or driver steering input. Very smooth and not intrusive at all.