I've recently bought a 16 model D4 with an auto and I tried out the LKA just today on the motorway by following another car with ACC and letting go of the steering wheel. It would let the car to get to the edge of the lane and would steer it back but wouldn't keep it dead straight between the lanes like some others cars do. As I far as I can tell this system is an older one and just assists you in keeping the car between lanes, it's not designed to do it by itself and keep it dead straight. Oh and btw the lane was dotted
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