I love using the self drive features of my Y but it still does erractic things at times.
Doing a lane change it crossed two lanes and I was glad there was no one in the further lane. During the same short drive it toook a turn or started to much to fast on an off ramp. It shows you still need to stay focused as it tries to take control.
On the other hand it is much better than my 2016 S was in terms of tracking turning etc.