Rivian enabled this feature a while back via OTA, and it was bad. It only ever triggered while entering or exiting a freeway, and it’s really quite distressing when you are trying to merge onto a freeway and the car tries to nudge you off the road. Or when you are getting off the freeway and the car tries to nudge you into an area that isn’t actually a lane.

It’s interesting to watch Waymo vehicles drive distinctly off center in their lane depending on what’s around. I’m not convinced that Waymo has dialed in the right tradeoff between its own distance from other cars vs driving politely and predictably, but they are certainly very aware of what’s around them.

(Yes, I switched it to a mode where it would beep but not try to steer once it was safe to do so.)