Since my service in April my TJA assist has gone from perfectly usable on motorways to very dangerous, veering to the left and right whereas before it was pretty much staying central in the lane and giving small adjustments when needed.
However the LKA is much better, never beeps and even when I try steering off over the line to test it it has very gentle correction, not the crazy jerky movements it used to make which was diffcult to self correct. The electro magnet or however the steering rack is controlled by the computer is much less powerful. No idea what software version I am on, but

for LKA and

for TJA
Overall I am still loving the car. I see more and more negative press about electric cars all the time and my colleagues are all very negative about them too (cos the believe what they read!) Its a bit sad.