I test drove a Volvo S90 recently. The Pilot Assist feature almost feels like a gimmick due to the attention required. If you don't give steering input in five seconds, Pilot Assist disables itself. It basically requires enough of your attention that there's little difference between using it and not using it.

It seems pretty clear to me that Volvo only has Pilot Assist in the first place as a method to gather data via telemetry for the next generation of self-driving vehicles, because it otherwise doesn't seem to add anything useful to the driving experience. Consequently, I haven't heard of any notable incidents where Pilot Assist caused an accident.

I haven't test driven Enhanced Autopilot but I see people on YouTube taking their hands off the wheel completely for much longer than the Volvo let me do. Tesla seems like they're pushing something half-baked out and representing it as something it isn't.