Your link agrees with me. Tesla provided some of the first commercially available lane centering in the Model S/X. For the stoplights, no, phantom braking sadl

Your link agrees with me. Tesla provided some of the first commercially available lane centering in the Model S/X. For the stoplights, no, phantom braking sadly predates that feature. It occurs during normal driving when the car erroneously perceives a phantom object appearing in front of the car and hits the brakes. The stoplight response, in my experience, is actually much more reliable, inclusive of stopping for reds / stopsigns, and automatically proceeding if there is a green light and a car in front of you.