I know. That's exactly what it is. Makes perfect sense. It has only gone off one time for me.
I am just trying to determine whether it is possible in 16.2/16.3 to maintain the same behavior, so that when I depart a lane it does NOT beep at me. That would be terrible if it beeped. The car should only beep when I'm going to hit something. I have 16.2 available but don't wish to update to it from 12.1.2 because it sounds like it is going to beep if I depart a lane. I have that on my Highlander and I have to turn it off (it stays off) because it upsets my wife so much (which means I also lose the weak Highlander lane keep assist) - of note, it goes off when it THINKS you are going to depart a lane on the Highlander...which makes it even worse. The Highlander beeping annoys me as well, but does not upset me.
Anyway, it doesn't seem like anyone knows how 16.2 or 16.3 actually works well enough to describe how it works, whether & when it beeps (and whether it is LDA or ELDA beeping), whether it steers, how much it steers, why it steers, etc. People don't even seem to be able to properly distinguish LDA from ELDA for some reason, even though LDA can be turned off (permanently).