Earlier quoted context omitted.
My 5 year old Subaru has been able to lane keep and auto follow to the point that a 2h drive on the freeway is me tapping the wheel every ten seconds to keep it enabled while I watch for idiots. It has been able to do this since I bought it, and I haven’t paid a dime extra. Car cost 30k.
I have a 2020 Forester and I've come to describing it as "I no-longer drive on the highway, I manage the car." Sometimes I'll get nervous and take over. But even in stop-and-go traffic, it has behaved perfectly. My only complaint is that there's an over-eager PID loop with lane keeping. If I want to pass a transport truck and want to kind of edge to the left of my lane when doing so, it will keep trying to compensate…
But there was one thing that was quite bad, similar to yours. While passing a semi I pulled it to the left side and it actually yanked us right so hard and then over-corrected once again. Super scary moment, the only issue of the whole trip, but basically never passed with it on again.