This morning, I drove with AP using 2.17.37 for the first time on my "lane-keeping torture test" road, which is a major freeway (4 lanes each direction) along a stretch that includes fairly tight, climbing turns and a curving approach into a tunnel. I was impressed. Planted dead-center in the lane through the turns, no overshoot at all, and no jerkiness going into the tunnel, where almost all previous versions of software had issues that had me taking control. (It wandered a bit towards the side of the lane when we exited the tunnel, but it caught itself at the edge and corrected. I am not sure how previous software would have done because I had always given up on AP and gone back to manual control long before that part of the road.) I never had any particular problems with lane-changing, but those worked well too.
Only one data point, but this was the best autosteer performance I've seen yet on this car. Nice job, Tesla engineering!
Traffic was light so I didn't get a chance to test the stop-and-go TACC performance. I was following another car going about the speed limit or slightly over, didn't notice anything out of the ordinary.
Bruce.