How well does that handle poorly marked sections of road? I have a similar system on a non-Tesla and that was one of its main weaknesses relative to AP.

Usually they need clear lane markings, at least one white line needs to be visible for the system to latch on.

Snowy roads, dirt roads etc. are out of scope for those.

But that’s not what the GP comment is talking about, no? They’re specifically talking about self driving on highways. FSD beta works on city streets. On highways you’d use auto steer and traffic aware cruise control, which is exactly same as lane keep assist and adaptive cruise control in a Toyota.

Can the Toyota Safety Sense system perform an automatic lane change on the highway? I don't think it can. Please correct me if I am wrong.