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This is exactly why I have been driving a Toyota. They are the only company who can make a halfway-decent driving-automation system at the moment.

TSS 3.0 (tested as Lexus teammate with advanced drive) got an acceptable rating.

GM and Nissan got a marginal rating.

All others, including Tesla's autopilot and full self-driving, failed with a poor rating.

Partial automation safeguard ratings

Rivian Introduces R2, R3, and R3X Built on New Midsize Platform (rivian.com)

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