The braking algorithm for the adaptive cruise control on the M3 was not nearly as good as my Ioniq 5.
False alarms for collisions, times to "TAKE CONTROL NOW" were massively increased over my I5. I have essentially no false alarms on the I5.
Thr driver attention monitor seems based on steering wheel deflection vs torque. Extremely often it decided my hands were not resisting it enough on the steering and commanded me to move the wheel slightly. Except the force required to do so enough to satisfy it was very near the force needed for it to automatically disengage. It was also enough force for the car to noticably swerve in the lane and the passengers to notice.
My I5 just needs a slight jiggle on the wheel. It still false alarms, thinking my hands were not on the wheel when they were, but massively reduced from the Model 3.
Then there was the time that I unbuckled my seatbelt to take off my jacket. The Model 3 had an absolute meltdown. Screaming alarms, autosteer disengaged immediately. It was a WTF moment compared to my I5.
Any time the lane would widen to accommodate an upcoming exit, the model 3 would move to the right to stay centered in what it thought were it's lane markings. Very dangerous. My I5 doesn't do this, it will stay going straight and alert you if it loses confidence in its ability to identify the lane.
The only thing the autosteer did better than my I5 was navigating curves. I think this is because the system in the I5 is limited to the turn rate it can command, and anything more than a gradual curve exceeds that. It will disengage and run you into the guardrail or ditch, if you are not payjng attention.
Many times I got a "corrective action applied for your safety" in the model 3 and never could figure out what was actually done or what the danger it was avoiding was. Many times it mistook parking lot line markings as obstacles.