[wlesieutre]

I don’t have good “lane centering” but knowing that it has the lane departure warning and will automatically bounce me back into the lane if I slip up for a moment is enough to make driving less stressful.

I was excited to get adaptive cruise control, but I’ve found I don’t like using it very much. It’s too aggressive with hitting the breaks to maintain the following distance instead of being able to ease off the gas to fall back like a human driver would. Assume some brands are better at this than others, but anyway I didn’t buy a Mazda to not drive it. So I use that only intermittently for long drives as a bit of a break for my right foot.