A few weeks ago (car was probably on 2019.12.1) I had occasion on motorway where I was going to activate autopilot but only one pull of stalk registered, so only TACC (and I let go of steering wheel). Before I even noticed (morning coma syndrome, MCS), car corrected the driving line heading out of lane to middle of lane with a warning. Reaction was very proactive and smooth. It has been warning about possible unintended lane departures before, but not taken over the control. I guess this is the new feature?
Mine is a AP 2.0 car.