I’ve noticed the tendency to gravitate towards the left as well, to the point I feel obligated to “correct” the system and manually steer it back to more center. But then it gradually drifts back closer to the left, and closer to the cars in the next lane, and a little too close for comfort. I think the system is designed to follow the cars in front of you (and not strictly follow the lane) when the car(s) in front of you are leaving the lane and it is safe to do so, for example if there’s a car stopped on the shoulder or debris in the road.

One thing that frustrates me about TJA and the ACC in this car in general is how it reacts to cars merging into or out of your lane in front of you. I haven’t found a “sweet spot” with the settings/distance control where the car reacts closely to how a human would when fully in control. It either takes too long to detect a car moving out of the lane to speed up, too slow to react when a car merges in and brakes too harshly, etc. Sometimes I don’t like using it just because I feel like it’s pissing off drivers around me and I just end up overriding it anyways.

On a side note, I recently had a 2018 Camry as a rental with ACC. As much as I hate to admit it, I greatly preferred the ACC experience in the Camry. Took a long trip and very rarely felt the need to “override” it by braking or accelerating.