I’ve been driving my id4 for about a month now and while LKA does well in between dashed or solid white lines, it doesn’t seem to do well with the solid yellow of the inner lane. Instead, it seems to want to use the k-wall which can be a little too close then there’s not a shoulder. Has anyone else experienced this? Similar issue with double white lines that denote the carpool lane. I wonder if it can be improved upon.