I agree with @Carro con enchufe in that RDM is rather very intrusive. I like ACC & LKAS, each of the works well and together they make it work even better. Cheers
Y’all do know that you can set the the RDMS to normal, wide, narrow, or alert only? That might make it “less intrusive” for you. P336 in the manual. With the right setting, mine only activates when it should or when I forget to use the turn signal (no way around that one).