At least in my car, the lane following (not keeping system) is handy because the steering wheel naturally tends to go where it should and less often am I “fighting” the tendency to center. The keeping system is at least for me largely nothing. If I turn signal, it ignores me crossing a lane. If circumstances demand an evasive maneuver that crosses a line, it’s resistance isn’t enough to cause an issue. At least mine has fared surprisingly well in areas where the lane markings are all kind of jacked up due to temporary changes for construction. If it is off, then my arms are just having to generally assert more effort to be in the same place I was going to be with the system. Generally no passenger notices when the system engages/disengages in the car except for the chiming it does when it switches over to unaided operation.

So at least my experience has been a positive one, but it hits things just right with intervention versus human attention, including monitoring gaze to make sure I am looking where I should. However there are people who test “how long can I keep my hands off the steering wheel”, which is a more dangerous mode of thinking.

And yes, having cameras everywhere makes fine maneuvering so much nicer, even with the limited visualization possible in the synthesized ‘overhead’ view of your car.