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Navigate on autopilot signaling lane change too late

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When using Navigate on autopilot, the car turns on the signals at the last possible moment before taking the off-ramp.
It takes approximately just one second between the time the turn signal is engaged and the car starts the maneuver, and I'm always left doubting and second-guessing whether it is going to actually take the turn, or I'm going to have to take over.

Shouldn't the car signal that it is going to turn/exit/change lanes at least a 3-5 seconds before it actually does?

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You need to put your car into the exit lane yourself. Nav on AP doesn't like you driving on the right lane.... it will try to keep you on the number 2 lane as long as possible. By the time it auto signal, you should be already in the correct lane by getting there yourself.