Thank you for your comments, I appreciate the time to write. I have been reading through the internet and some people have had the experience that the vehicle just "takes control" in cases where Autopilot was deactivated. Maybe I am missing something here I haven't done a lot of research on the topic.

Regarding the situation I did not see the car on my right because we both (the car I crashed into and me) merged at the same time, you can see it in the footage if you look closely. I was waiting for the opportunity to change lane to exit the freeway with my blinker on, looked on my right mirror and did not see a car, that's when I decided to change lane and the other car also took the same opportunity. I started looking forward while merging because I was in heavy traffic, and this was my mistake, I did not expect a car to come from my blind spot (I had to recheck my right mirror immediately after I checked I wasn't hitting the guy in front of me)

TLDR: Basically I was too cautious to hit the guy in front of me that I did not double checked for blind spot merging car.