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I hired a P2 from Hertz and had the same issue when using Pilot assist, when it was going around bends on the south eastern freeway here in South Australia (and these were just very moderate bends). It would drive on the right line. Clunk-clunk-clunk as the tyres would drive over the road reflectors.
There are plenty of highway curves here that the PA simply can't navigate by itself.
 
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