My rental vehicle this week, a Ford Explorer (either a 2021 or 2022) has some kind a steering assistance when using the cruise control. Take your hands off the wheel and it stays in its lane. Freaky. I only try it when there is no one else on the road, and if you keep your hands off for about 20 seconds, it starts alerting you to put your hands back on the wheel. If you don't, within 5-10 seconds, it cuts off the cruise control.