The lane assist noise is more of a swooshing noise, I find it discreet and well modulated. So not annoying when you change lanes intentionally. Unlike the collision warning system, which is a harsh buzzer. I find find it so distracting that it is more likely to cause an accident through distraction.
I would rather not have the adaptive cruise control as it intervenes extremely early, with little clue unless you are staring at the speedo all the time. It's particularly annoying show piece is snatching the brakes when the car (still some distance) ahead follows a curve in the road.
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