I have a 2020 Hyundai, top spec but still just a Hyundai. It has great lane departure warning and it's very accurate. It picks up the difference between solid/double/broken white lines and lane changing/merging/splitting. We took it around a local race track and it followed the track markings on everything but a hairpin which it applies brakes and took us to a complete stop. If it wasn't for the driver attention settings (no steering wheel feedback from driver, the car will also stop) it could have almost been an unassisted drive.

Still won't trust it though