I know there have been some discussions about this before, but I just have to say that my commutes (50 miles one way) have never been more relaxed than now with LKA and Adaptive Cruise. Traffic is usually heavy here, and aside from occasionally bumping the steering wheel to keep LKA going, and really just monitoring what the car is doing, it's like sit back, relax and enjoy. Of course LKA works under limited circumstances, if the lines aren't clear, or passing an exit where the line disappears to the right, etc, it screws up. But it's much less "work" than constantly providing driving input. Makes me wonder if I should have bought that M3 with full self driving instead...... Only gripes I have are that LKA doesn't work below 40, and when LKA shuts off when I don't wiggle the steering wheel in time, it just keeps going in a straight line with adaptive cruise going happily. Maybe a crescendo of annoying beeps would be more appropriate instead of shutting it off. Oh, and a capacitive sensor on the steering wheel to see if your hand is still on there vs. having to push it would be nice too. What are your experiences with LKA and Adaptive Cruise? And... Anyone have suggestions for keeping LKA going without wiggling the wheel every 10s?