We went on a 1200 mile journey recently in our June 2021 M3 SR+ mostly on dual carriageways in Scotland and motorways in England. I have to say the car was much better on the motorways, it had a few hesitations but nothing serious. On dual carriageways it still gets confused by vehicles at junctions. So I am a lot happier as we can now drive long distances on TACC, we don’t bother with autopilot. TACC is unusable in an urban environment.