Have a BMW X5 with this auto-steer nonsense and have had several incidents where it's abruptly turned the wheel, where if I weren't grabbing it it would have caused an accident. Ended up disabling the assistant system.
Two years ago an rental Audi A2 almost crashed me several times into the tunnel wall on the right side. It was a rainy night and sometimes when I drove into the tunnel, the car steared really hard right.