Get on a lightly traveled Interstate to start learning about it. Don't start learning it in the middle of LA traffic.
The car doesn't move suddenly, it prompts that it is moving on the screen before it does. It also requires hands on the wheel before it does. If your hands aren't on the wheel, it won't change lanes.
I suspect that "suddenly" is because you are in the driver's seat and are expecting to be in control. In the passenger seat, all moves are "sudden"
You may also want to get used to letting the car do lane changes on 4 lane divided roads by just pushing the turn signal and let the car change lane, no NoP, just TACC.
Once you stop driving and let the car do it, it does a fairly good job, I've seen people do worse. But, it's not perfect. It does mess up, it can go the wrong way. You still have to babysit it. But it makes long distance driving really nice.
Remember that NoA only works on limited access divided roads, like Interstates. NoA does uncommanded lane changes, whereas TACC requires you to make the decision. It works best on long rural Interstates, not the urban highways that we sometimes call Interstates.