I have to disagree here
@paulp. While AP has its moments, Autosteer (AS) has been rock solid for me, for almost 60'000km now, the vast majority (>80%) driven with AS engaged. I am significantly more alert and less tired after a long drive with AS.
And in terms of driving in dense traffic, Auto lane change has just yesterday saved a motorbike from being pranged by yours truly. He was weaving left and right through traffic from behind so fast, I never saw him until I was about to override ALC's refusal to go into the left lane... and the motorbike passed at that moment on the left.
I've encountered several similar incidents where AP saved the day, either because I was being a tool and inattentive, or like yesterday, where the cameras saw what was going on and I didn't.