Yes, with passengers I feel like it makes people nervous with all the beeping (I’d rather sounds on than disable it). It’s why I’ve leaned towards only using it on hwy driving after getting a feel for it.

It would be nice if it would engage in some sort of tutorial mode as ones first learning the system. I feel like I was a bit eager to try it everywhere at first and tried different things which maybe now I wouldn’t, a bit of in city usage of it for example.