I have a 2015 Tesla S 70D, so Autopilot 1. I use Autosteer every time I use the car but, of course, not all the time. The way I feel is that together the car and I drive better than either of us can alone. Most of the time the car will alert me to take over long before a problem occurs. Also I will deliberately take control when I see that the car will have difficulty because, for instance, the lane markings have disappeared or there is an oncoming vehicle that is straying close to the centre line. The alerts are unmistakable and both audible and visual and override the entertainment system. Of course on a winding country road one must be more attentive than on a straight, empty, motorway, but that is the case even without Autosteer. I have set the car to maintain the largest separation between it and the car in front which corresponds to about three seconds and to give the earliest warning of collision which means that it quite frequently alerts me and starts braking.

> if u were not in full control from before in a few seconds. It would take that long to even fully understand what is really happening.

But I am paying attention so taking control is really no different and less difficult than what happens to you in a normal car when you have been driving down an empty straight road just lightly holding the steering wheel and a deer or child runs out in front of you.