I had a vehicle with lane keeping and if I were a cop, I'd think I was drunk the way it weaved back and forth. It was a 2017 though, I hope it's improved but it seemed like a gimmick. I've never experienced the others, are they legit safety features, or just stuff to bullet point?

I've turned off lane keeping on my 2023 Audi A4. However, everything else is useful including and especially the passive improvements.