I don't use CarPlay or Android Auto so have no experience there. But for lane departure, this is from the latest owners manual:
Lane Departure Protection Settings
To configure Lane Departure Protection, touch
>
DreamDrive on the Pilot Panel, then enable or disable Lane Departure Protection. The settings are saved to the current user profile.
NOTE: Settings for this feature are always enabled in certain regions.
An indicator will display on the Glass Cockpit when Lane Departure Protection is disabled.
An indicator will be displayed on the Glass Cockpit when Lane Departure Protection is unavailable.
When enabled, press INTERVENTION (default), or WARNING or WARNING AND INTERVENTION. The system will give you haptic feedback through the steering wheel, when you select WARNING or WARNING AND INTERVENTION and when it detects that you need to make a correction while driving.
NOTE: Settings for this feature are region-specific.
Warnings automatically cancel when the risk of an unintentional lane departure has been reduced, such as when you steer the vehicle back to the current lane.