Today I went my usual commute to work and didn't have to disengage AP once. Went from Onramp to Offramp perfectly in LA traffic. It fixed the issue where AP couldn't see slow lane changes where it caused an accident a couple of months ago. It fixed the issue of lane haunting at slow speed. I am very confident now to hand this car to my son once my AWD comes. With the new speed lock feature and much safer AP, this is the safest car on the market. I can't even post a short clip at 19mb because it's too large but trust me when I say AP is very smooth now with slow merging cars. Seems like the vision is wider now.