This is normal for DDP2 right now. Its capabilities are limited to auto lane centering with clear lane lines or equivalent boundary cues. Intersections lack those lane cues. It works well within those limits, and only within those limits, even on the highway. Don’t expect it to be like Tesla Supervised FSD yet where it can function well in complex urban environments.
The good news is that the Gravity has more cameras than Tesla. It also has radar, lidar, and sonar, so the potential is there to out-perform Tesla FSD. We’ll get a major update around the end of the year with the Nvidia self driving partnership, as announced by Marc Winterhoff. Of course, I’m tempering my expectations on the timetable, but Nvidia has the self-driving level 2/3 working in the Mercedes today, so I’m hopeful.