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NoA will do onramps, off-ramps, freeway/highway changes, but as soon as you hit city streets with lights, it will kick into the Beta stack. some highways are an exception because they have lights, but your complaint is NoA that comes with paying for FSD. completely different code than the beta.
the long talked about "V11" being "Single Stack" is about that. current version is 10.11.2 and there are 2 separate code bases that switch back and forth. I dont have beta, but my car runs the same code as you on freeways.