Absolutely, times where the road markings are a mess can make Autopilot go crazy where it can't decide which 'lane' to stay in, I've also experienced the whole

Absolutely, times where the road markings are a mess can make Autopilot go crazy where it can't decide which 'lane' to stay in, I've also experienced the whole veering toward the concrete barrier. Each time I was able to anticipate that Autopilot would have trouble with what was coming up and took over when it did, you just have to apply a bit of force to the steering wheel and Autopilot makes an auditory and visual alert and disengages. I usually reengage after the danger has passed.