I have the beta as well, it's very very rough. Like, trying to change lanes into a "flush median" (aka yellow stripes across) to turn onto a one way in the wro

I have the beta as well, it's very very rough. Like, trying to change lanes into a "flush median" (aka yellow stripes across) to turn onto a one way in the wrong direction. Or randomly swerving back and forth (hard) when a lane splits into 2. Or trying to take 90deg turns at 45mph. There are times it works amazingly, I've had it slow down and swerve out of the way of someone barreling out of a parking lot without stopping. It's also great at finding a gap to fit into between cars to turn, but it also got itself into that situation by not getting over sooner and instead trying to merge ~500ft before the turn. Also for some reason on a 2 lane road (in each direction) it would constantly try to be in the "passing" lane.