I have FSD and owned my M3 for the same amount of time. With FSD you get Navigate on Autopilot that handles lane changes on the highway. It has the same issues you see. The lane changing isn't great, it wants to change lanes more frequently than I do and will often try going into the fast lane even though there is significantly faster traffic coming that I would be slowing down. I often have to disable navigate on autopilot to keep it in lane because it will suggest changing lanes, I'll cancel, then a minute later it will suggest it again.

I'm hoping once the two stacks are merged, that will improve.

The other problem I have on high ways is I can't really use it in stop and go traffic. If I do, it will frequently accelerate to fast from being stopped then have to break hard when traffic reaches a stop again. Too jerky for my comfort.

Overall, when I can use it, it makes driving less stressful. I drive 600 mile round trips a few times per year and am able to have it engaged vast majority of the time on highways.

FSD Beta on city streets requires too frequent overrides for it to be anything more than a party trick at the moment. Even in very rural areas it will have problems of either not changing lanes when it should or changing lanes when it shouldn't.

Auto parking worked great for me initially but something changed and it is never able to detect parking spots for me. The few times it does it just flickers on the screen then disappears, resulting in me not being able to use the feature. I'm not sure if this is because of a problem with sensors or if it's related to me being in the FSD Beta. I've been in the FSD Beta for over a year now.