I don't know if anyone else caught this, but their "optimal trajectory" planned path is illegally changing lanes in an intersection, at -1:26:00: https://www.youtube.com/watch?v=j0z4FweCy4M. Pretty funny.
The consensus seems to be that it's legal in many places, however a dangerous lane change is always illegal and changing lanes in an intersection is almost always dangerous.
[0] https://www.reddit.com/r/NoStupidQuestions/comments/25kbg3/i...