The solution is actually very simple and should have been done from the start ! Allow the driver to adjust it position within the lane. So let the drive center the car while autopilot is active and use that position ! There is no position fit all situation and fit all driver style. So this would resolve pretty much all complaint.
The only issue with that is the AP hardware is actually pretty weak and I'm not sure any software upgrade will fix that. From my limited Tesla AP experience (loaner), the Mobileye system don't see really far and have issues extrapolating potential line position or even following a car in front of you.
For example, at street light where there is no line because of the intersection, it will try to follow the car in front, but it will zigzag around when the while line are not present, EVEN if the white line are present and visible just 10 meter ahead, and the car in front and yourself are going in a straight line.
In that instance, it actually easy to fix, you extrapolate the while line continuation for X number of meters and confirm that with the car in front.
But those are hack to a lack of good sensors, and there is limit to what you can do with those.
For example, I've made a taxi dispatch software that predict where you will want to be pickup by analyzing previous calls. What great is you can use actual pass data to verify your accuracy. You can take a call from 2 day ago, and run the engine with data from before that 2 day ago and you can compare the actual client address versus what you predicted allowing you to quickly optimize your engine.
So the car could do the same thing as a security system, and if deviation is too high, then disable that system.
You can also verify your actual position by comparing 3 image. You know your speed and heading, so you can predict how the image will look like before you actually get that second image. Then you can compare what you predicted and the actual image and find deviation of your car.
Also, the car also need a bunch of other camera to get an actual 360o view of the car. And not just that, but position them at useful position. For example, central camera require it effective range of of the line being visible. Having 3 forward facing camera would be best (1 central and 1 on each side mirror).
The biggest things for AP system would be to create an camera lens that be clean by an electric signal. Or as a an alternative is to add a bunch of camera with correction software that can do composition from all of them. At some point, you will have to clean sensors, but maybe not as often as you would with just 1 camera.
Anyway, lot of stuff to do on the AP systems
I'm personally not disappointed anymore that I don't have the AP system in my car ! I'll probably like the 4th version of it