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Try cleaning the rear camera. Mine gets very cruded up with road salt.
2019.5.15 - 100 mile trip on NoA. Flawless on auto lane changes.
If trouble happens, look closely at lane markings, exit lanes, etc. Most times if it does happen,I have been able to see a problem.
My issues were on a perfectly marked highway with 65mph speed limit and nothing to do with exit lanes. I don’t see any lane marking issues in the OP’s video either.
For me, 2019.5.15 has been the worst iteration of autopilot since I got the car. Lane-keeping does far more ping-ponging and auto lane change is far too conservative to be used in heavy traffic.
I’ve seen this regularly on my 3 with 2019.5.15.