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Thats lane departure. Which as you say will try and keep you in the lane and nudge you back in if you drift without the indicators on. You can as you say disable that via the safety button shortcut or within idrive. That's separate from lane assist .
Many many systems on this car!
If you have done so have a read of the technical docs that have been posted on this forum , they go into more detail as to how they all work.
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