My Jetta GLI can do this. ACC is good, if there’s a hard stop it will beep at me to brake, or brake itself hard later. The lane centering worked great in WA (with a tweak to the options to enable stronger centering) and works pretty good in CA (lane lines aren’t always as clear). Basically I only have to give a very light touch on the steering wheel, the car mostly just follows the road.

The system overall is not perfect but it’s great in stop and go and pretty good in regular traffic.

My single test drive with a Civic was similar but I didn’t test out the ADAS so much (and they wanted too much for it).