At this point I want basically no driver assistance features except maybe an automatic cruise control speed adjustment to vehicle directly in the lane ahead based on forward facing radar data. Many of them seem to be much more troublesome or buggy than they're worth.

I don't have a "modern" vehicle but automated following distance is the only thing I feel like I'm missing out on. Everything else feels like I'm dodging bullets.

Unfortunately not upgrading means missing out on improvements to physical safety in the event of a crash.

I'll be honest, that braking assist has saved me from a couple parking lot dings. That's worth something.

The problem is I drive in a city with really narrow roads and it triggers the collision warning all over the place. I've also had it slam the brakes in a situation where that was not a good idea at all.

The forward attention warning ("you should take a break") is another one I'd love to be able to tune. I have a lot of late nights at work, falling asleep or becoming distracted while driving is a very real hazard that I appreciate, but it's absurdly sensitive.

I've been quite happy with my "first generation" tesla with the mobileye system. It has only tried to kill me a couple times in 6 years of driving it; it is not terribly smart but within the system's limits it is very stable. I certainly don't trust it to drive unattended, but it does offload 5-30% of the toil of driving on highways, which is pretty nice. Offloading 50-80% but constantly wondering "is it going to try to kill me?" I don't think would be as relaxing, though I understand lots of people have chosen to just not worry, which I guess is fine...

At the time I got the car I wasn't sure if I wanted the old "totally obsolete" AP1 or the "probably going to get way better (cough)" AP2; I'm glad I got the obsolete version....

I wonder if there are modern cars with systems comparable to the mobileye system from the original tesla setup.

The speed limit sign reading tech that displays the most recently posted limit on the nav is pretty nifty. (I'd consider that "driver assistance" even if it doesn't physically control the vehicle.)

I've heard new Toyota's sensors cause it to constantly beep and you can't turn it off. Probably due to a regulation somewhere.