You guys do realize that lane keeping and lane centering are 2 separate things on the Explorer? If you have both on, it does a great job of staying centered in lane! I always have it on. Lane keeping assist, alert & centering all on is the way to go if you want to see how great this system works. Otherwise your complaints are completely illegitimate. Lane keeping technology circa 2012 and lane keeping and lane centering 2020 are like night and day difference. I use it all and intelligent cruise control for the full experience of this system.