It’s a bit annoying to be perfectly centered at all times, I will admit. You don’t notice until you’re no longer doing it, but lane positioning is very dependent on what’s next to you. For example, being centered in your lane next to a big rig actually feels uncomfortably close to it. Luckily my car lets me adjust where I am in the lane without disengaging, but I will turn off lane keeping entirely if I find I’m fighting it too often.
Now, when someone makes a system that does smart lane positioning, I’ll be set!
I still have zero interest in the city stuff mentioned in the article.