It has just a regular cruise control mode where it just has the adaptive speed but you have to do all of the steering. Put the autosteer on double pull and the only do a single pull.

I thought the cars come with Lane Keep Assist.

Um... isn't the lane keeping part of the autopilot? From the manual: "Autopilot Features This topic describes how to enable and use the following driver assistance features. Note Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be equipped with the following features, or a feature may not operate exactly as described. Traffic-Aware Cruise Control: Like traditional cruise control, Traffic-Aware Cruise Control maintains a set driving speed. However, Traffic-Aware Cruise Control also slows down or accelerates Model Y as needed to maintain the following distance from the vehicle in front of you. While Traffic-Aware Cruise Control is engaged, you are still responsible for steering Model Y (see Traffic-Aware Cruise Control). Autosteer: Like Traffic-Aware Cruise Control, Autosteer maintains a set speed (if there is not a vehicle in front of you) or a set following distance (if there is a vehicle in front of you). In addition, Autosteer detects lane markings, road edges, and the presence of vehicles and objects to intelligently keep Model Y in its driving lane (see Autosteer). Note Autosteer is a BETA feature. Auto Lane Change: When you engage a turn signal while Autosteer is active, Auto Lane Change moves Model Y into the adjacent lane in the direction indicated by the turn signal (see Auto Lane Change). Navigate on Autopilot: Navigate on Autopilot builds on the features of Traffic-Aware Cruise Control and Autosteer. While Autosteer is active, Navigate on Autopilot allows Model Y to suggest and, if configured, automatically change lanes to pass other vehicles and follow the navigation route (see Navigate on Autopilot). Note Navigate on Autopilot is a BETA feature. Traffic-Aware Cruise Control and Autosteer use information from the cameras on Model Y to detect lane markings, road edges, and other vehicles and road users around Model Y. CAUTION Ensure all cameras are clean and free of obstructions before each drive and before using Autopilot features (see Cleaning a Camera). Dirty cameras and sensors (if equipped), as well as environmental conditions such as rain and faded lane markings, can affect Autopilot performance. If a camera is obstructed or blinded, Model Y displays a message on the touchscreen and Autopilot features may not be available. For more information on specific alerts, see Troubleshooting Alerts. CAUTION It is your responsibility to familiarize yourself with the limitations of Autopilot and the situations in which driver intervention may be needed. For more information, see Limitations and Warnings."

because my commute to work is so short, the only thing i did was upgrade my outlet from the 15 amp to the 20 amp. it was super easy to do and only took like 5-10 mins to do. the outlet only cost like 5 bucks as well. this cheap and easy upgrade took the charging from 3-4 mph to 6-7 mph. that may not seem like a lot to most, but that is a huge difference for me! just for some perspective, in a 10 hour charging window, you go from adding 40 miles to 60 miles. i live in san antonio, so theres no to have any more than that.

It’s annoying but If you hold your phone behind the wheel when looking cabin camera can’t see it.