I activated HA on Saturday and tried it out briefly. Activating the turn signal did not disengage HA as it was suppose to and found the lane centering slow to correct. I am hoping as the system is used more the sensors will fine tune their calibration and do a better job lane centering. I don't need to use the freeway a lot, but would like to have HA available and reliable to future trips. I found that the lane departure feature is not improved with the lastest updates. I was hoping that some of the lane centering algorithms would filter accross to the lane departute algorithm. At least they moved Lane Departure Protection is disabled or unavailable, indicator to the bottom of the display. According to the Lucid Owners Manual, "When disabled, Lane Departure Protection settings will save to the current User Profile. Lane Departure Protection is re-activated when Highway Assist is activate." When Highway Assist is activated, it is always set to 'Warning and Intervention'. I wonder if they are using the Lane Departure function a part of the lane centering. If so that would explain the slight ping pong effect in HA in its effort to keep the car centered in the lane.