For me this is a big drawback of half-baked autopilot. It takes us humans time to engage in a split second and react to surroundings even if they are monitoring it. When driving I'm constantly updating my situation awareness by doing a 360 degree scan every few seconds and I'm 100% engaged with the car so I know which way to safely swerve, what happens if I slam the brakes etc.,. With this auto-pilot-assist I'm monitoring mostly forward and I'm not engaged with the car so my ability to handle emergency situation is severely impaired.