I've used Hyundai's adaptive cruse control on an older model. It doesn't do anything with the steering wheel, but it beeps when you leave the lane without using a turn signal. As far as tracking the speed of the cars in front of you and coming to a complete stop in traffic, it works great. I've never had a phantom braking incident with many thousands of miles driven on that mode. But that's not auto-steering at all.
I've used Blue Cruise a good bit which supports hands-off modes. This system works very well on highways hands-free. It seems to want me to put my hands back on the wheel when approaching the toll gantries and goes back to hands-free a few seconds after the toll gantry, but otherwise I've been able to go well over 100 miles at a time without touching the wheel or brakes. I've never had any kind of phantom braking situation or slow downs, it works well in stop and go traffic, and has overall been a great experience.
I've used Blue Cruise a good bit which supports hands-off modes. This system works very well on highways hands-free. It seems to want me to put my hands back on the wheel when approaching the toll gantries and goes back to hands-free a few seconds after the toll gantry, but otherwise I've been able to go well over 100 miles at a time without touching the wheel or brakes. I've never had any kind of phantom braking situation or slow downs, it works well in stop and go traffic, and has overall been a great experience.