[ghaff]

I don't have personal experience but friends with personal experience have sort of shifted my thinking on the topic. They'll note they do need to stay engaged but that it is genuinely useful on long drives in particular. The control handover is definitely an issue but so is manual driving in general. Their consensus is that the current state of the art is by no means perfect but it is improved and it's not like there aren't problems with existing manual driving even with some assistive systems.