Offer a feature to influence the Autosteer lane centering, e.g. “more to the left”, “more to the right. It might be more automatic based on what appears on either side of the car.
This could be a “teaching mode” for a particular (commuter) trip, effective only on the next trip, or an immediate “manual correction” through the steering wheel (gently forcing against the resistance of the AP, or possibly combined with the cruise control lever).
It might be possible to automate this so that if you’re in the left lane on a freeway, with lots of room to the left, it shifts a bit to the left. If there is a barrier at the left edge of the late, perhaps it shifts a bit to the right. A truck in the adjacent lane may shift away from the truck a foot or so.
As of 2021, Autosteer does move slightly away from vehicles that are near the edge of the next lane but does not do this for barriers and other side items.
(voting combined from a close duplicate that has been removed)