Speed control I'm fine with and is obvs. a mature tech that has been around for decades. Maybe it's the way I drive, but I find lane assist a liability -- especially on curves. More than once the car swerved unexpectedly one way or the other going around a bend. After the 2nd time that happened, I shut it off.
I've found adaptive cruise control to be a simple, noticeable improvement.
My five year old Honda has a very limited driver assist system (radar cruise control + lane centering), which (in my opinion) is very good at what it's trying to do. It has no pretensions of being a "self-driving" system, but it very successfully manages to reduce some of the stress of driving and make my driving better. I think the key point is it only automates the fine adjustments and provides alerts, but is very careful to never allow the driver to rely on it too much.
Until autonomous vehicles reach "read a book or fall asleep" levels, this is all I'm interested in. No thank you to any dumb "autopilot" system that I can't actually trust, but tries to control my wheel.
When I'm in stop and go traffic, I really like not having to constantly go back and fourth between the brake and gas pedal, I can just pay attention to what's happening in and around the lane and let the car keep a good follow distance.
I've gone over 100 miles at a time without having to touch the gas or brake pedal, even through stop and go traffic.
My only disdain for driving stems from sharing the road with other driver who are completely stupid and seem to lack and critical thinking skill(this shows up in especially in traffic jams and navigation within them on local roads with obstacles also present, like a parked truck loading).
That is, I fully understand that to get to Levels 3, 4, and 5, you need to pass through levels 1 and 2 in autonomous driving. But the issue is that I feel like these systems are basically at the "slight drunk teenager" stage, with you as the driver having to ensure they don't mess up too badly. Honestly, unless I can, say, read a book or do something else, these systems (I'm specifically referring to an advanced cruise control/lane keeping system) right now just require me to pay MORE attention and they stress me out more.
Fully understand we need folks to help train these systems, but, at least for me, they currently make the driving experience worse.