Agreed, I find it concerning that even the basic system in my recent Ford feels like its edging into degraded supervision territory under certain circumstances

Agreed, I find it concerning that even the basic system in my recent Ford feels like its edging into degraded supervision territory under certain circumstances despite only having steering based attention monitoring. Regulators/congress should be much more proactive about defining what constitutes proper driver monitoring. I think the big issue is that the NHTSA is fundamentally a reactive organization. Automakers self-certify compliance with the regulations, then at some point later the NHTSA may investigate and take action against a specific product or manufacturer if there are enough complaints. Legally I'm not sure that they are allowed to make broad recalls even if its the logical thing to do.