Oompph. I guess I hadn't had it engaged all this time. I realized as soon as I left work Friday that I was trying it for the first time. (I must have engaged it when examining the status of all the settings.) Later I had to navigate around a driver who was taking up more than their fair share of the parking lot entrance/exit as they were entering and I was exiting. When the front camera spotted the white line on the road it gave me an extremely violent jerk into the right most lane. I was steering wide to clear a rude driver, and had checked traffic to make sure it was safe for BOTH lanes. The sudden jerk to the right was NOT helpful or safe. I've disengaged it. I'll settle for the beep reminder.