[claykin]

I had a similar issue with the car struggling to stay in lane keep assist and when it did it wandered a lot more than usual. On my first service visit the dealer said the car threw a code, so they did an istep upgrade and recalibrated the Kafas camera. When it continued to be a problem, they replaced the Kafas camera and that resolved the problem.

I hope your car has some sort of warranty because I recall the part alone would have been stupid expensive if I had to pay for the repair. Assuming your issue is the same. Good luck.