I have bog standard subaru EyeSight lane assist and dynamic cruise. It's quite nice, even though you are still "driving" and ready to take control. It reduces mental CPU by 50-80% (driving for me is practically like walking to begin with, largely subconscious). It's great in stop-and-go and long highway stretches.
In my experience there is a pretty strong correlation between driving style and whether AP lowers your stress or increases it. If you are a very defensive driver, AP will frequently raise your blood pressure. YMMV, everyone has a different approach to driving.
