After a week or so of driving 100mi a day in traffic with the new update, I've gotten used to HA again. I don't get any significant lane ping-ponging, the most significant change for me is in the turns:
In 2.0.71, slight curves were very smooth and reliable for me. In sharper turns it felt like HA gave up, and I just took over for a minute.
In 2.1.10, I think it does a better job tracking sharper turns, to an extent. However, even in slight curves, it feels like it's ratcheting through the turn. The wheel bounces back and forth rapidly as it's overcorrecting again and again. I now hold the wheel firmly through turns to keep it steady.
Aside from that, 2.1.10 feels to me like it's gotten a bit more aggressive when it comes to dodging out exits. 2.0.71 wasn't necessarily better about deciding what is or isn't an exit, but it made the same poor decisions more smoothly.
I did also adapt to the manual biasing and I quite like it now. At first it seemed like it would lose its centering when I just gave the wheel the "I'm still here" jiggle. I don't know what changed, but I don't get that feeling anymore. Now it just seems like the car and I work better as a team overall - I can gently guide it without overriding it completely, and disengaging also flows much more smoothly into manual control. Overall feels like progress to me, but also highlights how far we still have to go.
Sorry! I'm never patient enough with the car haha.
