Any dangerous machine (like a car) must not do anything unexpected out of the driver's control. A lane assist that resists the wheel when trying to get out? Why not, but dangerous. A lane assist that slam you back in the lane? Criminal. (same with anti-collision braking that triggers too strong too early and surprises drivers behind you)
I'm definitely of the opinion that all those features reduce security. The alarm fatigue is real, because the car always finds something to beep at you. Heck, even your hands not being a perfect 10-2 o'clock on the wheel is reason enough on some cars. You quickly ignore the beeps because there are so many reasons for the car to beep it's hard to even understand why.