It will if it can't get a lock on the lane markers. For example mine does this when navigating through large unmarked intersections which in my home town has many where the far side lanes don't align with the lanes before entering the intersection (due to added left and right turn lanes). My Tesla will follow a car in front as they slightly adjust position to the offset lanes on the far side (which is very cool) but if there is no car to follow I just take over knowing it'll not handle it well.