idk whether subaru is exact the same as hyundai but i basically turned lane centering off on my hyundai. when possible i only use radar cruise control, and lane follow. if i want to overtake, turn on my signal and it'll automatically safely increase speed to set cc speed and let the lane follow off. it's pretty seamless.

lane centering is a bit too annoying for me, i need to keep my hands on the wheels anyway.