Love it when two engineers talk without the BS.  IMHO, George actually undersold the Comma a bit. I have a Prius Prime using OP with ZSS (a better, community created steering sensor) and I use mine all the time not just for highways, but even in city traffic - even for longitudinal - which is SOOOO much better that Toyota’s automatic cruise control - especially in stop n’ go traffic.,(reply>), What is ZSS?