Its been over a year since I start using openpilot enhanced driver assist, and it keeps better as time goes by. I know this is not for everyone, especially the faint of heart. but for technology enthusiast this is a super enhancement compared to the stock Genesis LKAS & SCC systems. For highway cruising openpilot is super, now with automatic speed set, that adjust your SCC max speed to the speed limit of the current road you are driving on. NB : openpilot allows you to set a max speed offset, mine is set to +10 MPH, which is my typical speed on the highway. As a person that does a couple long trips per year, openpilot has made them much more enjoyable and stress free. Check out the video.