Yeah this is what I mean by "doing weird stuff" on freeways the phantom breaking is pretty crazy, but it's quite manageable once you expect it/experienced it a few times. Usually like once a week/two-weeks on average usage.

The scarier one is in construction zones where the lanes have been moved. During dry it's pretty easy to tell apart, but combine night and wet, it starts doing weird stuff fast. I don't think Lidar would fix this problem.