Keep in mind this is a system with millions of miles under it’s belt and it still doesn’t understand what to do with a forced left turn lane in a very short trip in a fairly controlled environment with supremely good visual, road, and traffic conditions. LIDAR wouldn’t have helped the car here, there was no “whoops, confusining visibility”, it just completely screwed up and ignored the road markings.

It’s been in this state for years now, of being surprisingly capable, yet horrible screw ups being noted frequently. They seem to be like 95% of the way there and stuck, with no progress in reality just some willfull denial convincing them to move forward anyway.