Just tried it out for a few miles on mixed city streets and some highway. It's still not perfect, but it's far better than before. It corrects the lane drift BEFORE you are outside the lane, making the car act much more like it's supposed to rather than looking like there's a really drunk driver behind the wheel. It's not obnoxious, though. It still let's you drive and stear as usual, it only reacts when you're a little too much out of the center of the lane, but finally it doesn't wait until I'm almost all the way in the other lane to react anymore! Definitely recommend you guys check it out. Note that it still does the same "put your hands back on the wheel" warning and deactivation if you don't put your hands back on the wheel. So it's not self-driving by any means, and shouldn't be treated as such, but it's a great added layer of protection to keep you in your lane.