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TL;DR: Less mental fatigue, more alert, and more aware of my surroundings. The difference between constantly making micro adjustments and not having to was much greater than I expected.

I wrote up my experience in slightly longer form here: https://news.ycombinator.com/item?id=16773903

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Thanks for the writeup! Have you compared against a vehicle with a decent adaptive cruise control (but no autopilot)?

Sort of -- in the sense that on some occasions I'll use TACC by itself without Autosteer (most notably because TACC works great in the rain, but Autosteer doesn't). My experience is that TACC alone is still a huge improvement on regular driving. Autosteer is another big improvement on top of TACC. It's a hard thing to quantify but I'd say they are similarly helpful. Obviously the effect is increased when you put them together.

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