Definitely. My last couple vehicles have had Lane Keep Assist and Adaptive Cruise Control. I believe those two equate to about "Level 2" of autonomous driving. Whatever the technical definition is doesn't matter though, the important point is that those two features alone make driving long distances so much less mentally taxing.
The Volvo system in particular is great... keeping your vehicle firmly in the middle of the lane like it's on rails. Frankly, it's better at that task than I am and only requires slight and occasional steering wheel input to stay engaged -- just enough to know you're paying attention.
Before these systems, I'd be mentally exhausted after driving 2.5 hours to my parents house, especially if there was stop n go traffic and it took even longer. Since these systems, I arrive feeling mentally refreshed instead of drained. There is no way I'd buy a general purpose vehicle without these systems ever again and I look forward to any other ways that automated systems can augment my ability to drive safer, more precisely and with less effort.