LKA is not autonomous driving it is more of a safety aid in imo. It is not designed to keep you in the centre of the lane but to warn you and nudge you back into the lane if you get to close to the line. As had been said before it gets a bit too close before it does it and would be better if it did it earlier, generally not necessarily just ID3. It expects you to drive in the centre and to warn if you drift. LFA is more autonomous and requires less input from you and will steer on curves on DC or motorway.