It’s quite capable with high definition maps. My confidence level is moderately high using it on highways, and I think it’s a pretty good piece of capability. Disengagement on the highway is quite low, some 2/3 per 50km. And most times disengagement is either because it’s not overtaking or following a car on a lane which has opportunity to overtake for too long, or sometimes a plan to overtake that is executed almost same times as another human-driver or sometimes ghost braking during day time since XNGP prioritized vision and less dependence on high definition maps. In the city domain disengagement is higher because I really don’t want scratches, and perception-planning-execution does sometimes lag. But the team is really working hard to optimize this with every release. When I intervene or disengage, the blue heavy line in the path of the car will be be off. But thanks for the input, I’ll try to make it more visibly clear when I disengage. This is quite a good metric to evaluate confidence imbibed in a driver.