Not just beeping. I had a rental Nissan recently violently pull me straight off the road when it couldn't read the lines very well in a thick fog. Apparently you can disable that deep in some settings menu through some magic button presses divorced from the main settings menus, but it was frightening. For most manufacturers, almost none of this tech is good enough to even make optional and non-default, much less legislatively mandated, and that supposes I trust you not to sell my daily mood or whatever bullshit to data brokers.