Just this past weekend on a trip to fla and back to NY, it started driving on the shoulder a few times, was in exit lane heading for the ramp and cuts across the zebra stripes to get back onto the highway and started to drive onto the left shoulder under a huge overpass, and the left shoulder was ending, which turned into a DITCH....so I dont think it will ever be unsupervised. There are just to many variables across the interstates, highways, back roads and side streets to ever be perfect. And perfect is what I would need to trust it.Yes, my CT has taken me over the double yellow 6 times. Not ready for primetime. FSD 12.5 version.