For me it does, but only somewhat. I'm much more cautious / aware for the first few drives while I figure it out again.

I also feel like it takes a bit (5-10 minutes of driving) for it to recalibrate after an update, and it's slightly worse than usual at the very beginning. I know they have to calibrate the cameras to the car, so it might be related to that, or it could just be me getting used to its quarks.