My analogy is this one: you and a student driver are at the controls at the same time. So you keep a light touch on the wheel, and let it steer, accelerate and brake. You can also hover over the brake pedal ready to react if anything comes up.
Also that virtual student driver has the strength of a toddler, to the minute you counter the wheel's rotation with a touch of force, you'Ve taken over.
I've used it from the day it became available, and the student driver is getting better with every single over-the-air software update. It might soon get its license. ;-)
I mean, it will now ask you about lane changes (Navigate on Autopilot) and if approved, will execute the lane change. Meanwhile, you are checking the blind spot and mirrors fo any people it might cut off.
It will also properly navigate highway interchanges too. And highway exits. Oh, almost forgot: it is now aware of merging cars when driving in the far-right lane, and does a reasonable job of adjusting speed to let them in.
So I say use it, but as stated before, do not give up trust and awareness: you are the driver 100% of the time. You just have less work to do, as the constant micro adjustments are taken care of for you (staying x car lengths from the car in front, staying in the middle of the lane). You can focus on situational awareness, defensive driving and sometimes, enjoying an extra second of scenery.