While driving a P90D loaner last week, I noticed the steering feel was very tight, and definitely had a big effect on the effort it took for me to steer on tighter turns, especially at speed in HOV lanes with limited side clearance. Of course, a quick check of the settings showed it was in the performance / sport mode, and I changed it back to the standard mode to prevent my already strained arms (unrelated to the vehicle) from additional pain. This got me thinking...when in the AutoPilot mode, does the vehicle have to fight this additional resistance to the steering as a human driver would, or does AP bypass that system to provide equal performance regardless of the steering mode ? The reason being, if AP has to use additional effort for sharper turns or steering corrections, it might do a better job in the easier steering setting than in the firmer steering setting. I'm admittedly ignorant of the system design regarding AP and if it operates pre- or post steering mode adjustment. Has anyone seen a difference in driving situations where AP performs better / disconnects less with a lighter steering setting ?