Since the 2.0.59 update, I have finally done some extended highway driving, and changing lanes is much more smooth now - no more jerking the wheel, just a very slight resistance. There are still very infrequent occasions when at highway speeds the car has problems with sharper turns, but since I don't trust any car's software 100%, I can immediately keep the car where it should be. I'm still tickled pink that I have NO concerns that there will be phantom braking, which meant I could never use even cruise control on my prior vehicle. Excellent software update. (I never use the lane assist, so I'm not able to comment if that has gotten better.)