Two Toyotas. The steering you apply, even with almost no torque, always overrides lane keeping. Super dangerous. No beeps when that happens. Whereas with my Tesla you’d have to force it out of autopilot. Or fight a bit back if the car corrects you for safety.

That's the trouble with automating cars - being quite accurate is not really that great over 100k miles. On Tesla's specifically I find the "hands on wheel" attention detection a bit iffy.