The problem with the assertive setting is it didn't really work. The car would still do a rolling stop even in chill. I think in those cases it might have been creeping for visibility but often the creep is a full blown drive into the intersection.

They really need to add some explicit controls over this like navigate on autopilot has. I've had to disengage so many times due to it making really dumb moves that could be fixed with just asking me first. I know thats against their end goal but their models just are not there yet.