I want a step before it right now. Let me use my phone or watch videos on the highway. I’m okay with taking over with a small amount of warning. I’m also okay

I want a step before it right now. Let me use my phone or watch videos on the highway. I’m okay with taking over with a small amount of warning. I’m also okay doing all non-highway driving. I just want something that can keep me in my lane and avoid ramming the vehicle in front of me. If I need to drive at the start and end of my trip, that’s okay.