Yesterday, I initiated Autosteer on my X, software version 2019.8.5, and it nearly drove me into an oncoming car. It misinterpreted (?) a break in the lane lines at an intersection and swerved abruptly toward the left lane exactly as an on-coming car was approaching in that lane. Fortunately, I was able to react in time to prevent a potential collision. Needless to say, I immediately switched Autosteer off. It did get my heart pumping, though.