I have a Toyota Camry with lane detection. If it thinks you're on the edge of the lane, it beeps at you and gives the steering wheel a gentle nudge. I think they've given it a perfect balance, because the nudge really is gentle - like a short blast of cross-wind. It doesn't force you into killing yourself like a Tesla.

There's an intersection near my house where they repaved the road this summer. The lane markings on one side of the intersection are about 2 feet offset from the other side of the intersection after they repainted them, and it trips the lane detection about 50% of the time even when I'm actively trying to compensate. I suspect that intersection will become a graveyard of bricked cars once the law comes to pass.