One thing i really hate is the way Hyundai implemented the active lane keep assist. I also have a Honda clarity phev and on the clarity the LKAS manages to keep the car centered in the lane without applying a lot of force to the steering wheel. The car does not fight my inputs. On the Hyundai the active LKA will always try to keep the car in what it considers the center of the lane and will apply significant force to the wheel. The car has a tendency to be too close to the edge of the road for my comfort and i try to steer it more to the middle of the road when next to me i have the concrete highway divider. But the Kona wants to go back to the "middle" and forces against my hand. LKA is supposed to make driving easier but this system increases fatigue since I'm constantly fighting the car. The second thing i dislike is the lane departure warning. It is way too sensitive. I have to turn it off on winding mountain roads because it constantly beeps at me as soon as i get too close to the line in a curve. The clarity doesn't beep, it shakes the wheel, which is much better feedback (the Kona beeps for everything and it's hard to know why it beeps at any particular moment) and also it doesn't seem so sensitive. It seems to wait a bit when you're just on the edge and not passing into other lane. I wasn't getting constant warnings from lane departure with the clarity when i took it for a country trip.