I'm pretty impressed by Toyota (2024 Prius Prime). Braking has only ever kicked in when I parallel-park between two very close vehicles and it was very easy to override. Just press the break and let go. Lane-keeping assist is a bit wonky sometimes but it's very understandable why, like train tracks that veer off away from the road or poorly painted lanes.

They do just the right amount of "help" without really getting in your way.