Surprised to hear that. The ACC on my 2019 CR-V is the best adaptive cruise control I've used, a lot smoother than ACC I've tried in substantially more expensive cars. I agree the LKAS is pretty crappy (off of highways, it seems closer to 60% of lanes), but I've never experienced anything with it that's caused actual problems. The crappiness just comes from it frequently not knowing where the lane is, but I leave it on at all times for the times where it does recognize them.