I just finished a couple of 500 mile drives in my Model Y and can confirm that Autopilot was wonderful. The lane keeping was great and the adaptive cruise control was outstanding! It was very relaxing being able to relax a bit while letting the car make most of the decisions.

On straight highways with little traffic there I had zero problems with Autopilot. As a test, I engaged it in some not-so-great conditions (rainy, twisty mountain roads with lots of tractor trailer traffic) and the result was a bit more exciting. So, yes, used appropriately, Autopilot is great. I'm not really sold on FSD yet.