Coming from a tesla the car does a fairly good job keeping in the lane. I would say Jaguar is similar, but there auto correction of the lane is just downright dangerous. If I get anywhere near the lane divider line the car we JERK to correct itself into the lane. Its quite forceful and very disconcerting. Even if I disable the driver awareness and Emergency lane keep assist the car still seems to do it. And a downside of upgrading to the latest firmware every time I drive again those settings I disabled are re-enabled again.