Any way to turn off Steering Assist for LDA 2025 Prius?

I've just bought a 2025 Prius, my first hybrid and most modern car to date. It's pretty great. One significant issue so far: I cannot get the Lane Departure Alert system to function as I wish.

If I turn on LDA with audio alerts, I get no audio alerts when veering out of lane; instead the wheel vibrates and steers me back in. This seems like a malfunction.

If I turn on LDA with vibration, when veering out of lane the wheel vibrates and steers me back in. This seems like it's operating properly.

In either case I want NO steering assist, but I can't find how to turn that off.

In the end, what I want is an audio alert when veering out of lane and NO steering assist.

Does anyone know how to accomplish this?

Having read similar threads here, I should point out I always use turn signals when changing lanes and my question has nothing to do with deliberately changing lanes. I simply want an audio alert if I happen to veer too close to either side of a lane while driving, as I get in my 2017 Outback.

Thank you in advance.

 

Thanks, I had read that and interpreted "can slightly operate..." to mean if enabled, but it does indeed seem as if the function is all or nothing (despite being called Lane Departure ALERT instead of Lane Departure PREVENTION). Off it goes.