I typically stay in the middle of the lane, but will drift to one side when I'm passing a vehicle that is wider or potentially erratic. I've never noticed lane-keeping fighting me when there's a car next to me; I wonder if they use the blind spot sensors to detect when to give some leeway in these situations.

Generally the cars with better lane warning/centering use camera or radar to see other vehicles.

We have been moving from pretty crude centering, to adaptive based on other vehicles, to intelligent enough to avoid potholes and cross lane markings deliberately (eg, passing a cyclist on an empty road).

The problem is all these options exist simultaneously, with the same marketing, and same ancap bonus points; even when the actual capability of the car varies massively.