I would not even dream of using autopilot off of the interstate so that’s not relevant.
Look all over this message board for people complaining about phantom breaking.
Don’t underestimate how much lane centering reduces fatigue. I like controlling the pedals, that’s the easy part for me and the part that AP has the most trouble with. Staying in your own lane, making sure you don’t sway near another car, seems like such an easy problem for Tesla to solve, they have solved it, yet they refuse to enable it without TACC which doesn’t make sense. As it stands my $20k accord has a less stressful, less fatiguing commute on highways because it stays in lanes by itself and I don’t need to worry about the car doing something unpredictable.