That's not true, I started this thread bases on an AP1 car, and AP1 will not initiate (fully automatic) lane change. It's only 'automatic' changing lanes when the driver initiates it by using the blinker. And that is not robust enough in less then ideal conditions. Based on this tip in April, I indeed learned not to apply pressure on the wheel (which was based on an instruction from a Tesla sales guy..) In low traffic conditions, I'm more patient now to wait for auto lane change (after starting my blinker). So I do have less annoying chimes. Plus I learned which situations can't be handled by the system, and leave it on ACC, not autosteer. To prevent a crash?? The car will leave so much space a truck will fit in.. In heavy traffic it's just slowing down too quickly, leaving way too much space. But I simply override it with my accelerator.