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Not using highway assist, this is with adaptive cruise control on the local streets. I think the Highway assist does a much better job in that sense. Looking forward to Traffic jam assist.

I have run into the same situation on a couple occasions. Lucid is not able to detect cars ahead waiting on the red light and then runs into a situation of emergency braking. It does a good job when cars are in motion ahead of you and as they slow down it slows down but when cars ahead are not...