Mercedes drive is unacceptable, if it cannot keep within lines on that road it should not be allowed for use.
Last month I used Tesla free FSD (Supervised) and it managed to drive me continuously on 150 miles highway, then across the big city after sunset (including left turn on 4 lanes to 4 lanes intersection, or across the workarea heavily marked with cones), and I did not have to intervene once (except of course keeping hands on the wheel to not get disconnected). On 12 days country trip I used it everywhere. I've had some laughable moments, few hiccups with GPS, and not a single intervention caused by dangerous drive. Few places I intervened were mostly my impatience (use right shoulder for right turn, don't sit stupidly within lines). So there are hiccups, minor bugs to clean, but FSD allowed me to rest behind the wheel most of the time, and focus on a big picture. I was so happy when it managed to drive across the busy town straight to the hotel or supercharger, without me trying to navigate it, even with the help of GPS.