LKA works intermittently. It is set to beep and actively prevent lane departure. It rarely does both at once and more often neither. When it crosses a lane it does not prevent this and sometimes beeps but most of the time it does nothing. Collision mitigation will sometimes work and sometimes not. It failed to see a car lock up it's brakes 75 feet in front of me at approximately 40 mph and I had to lock up my brakes. It gave no warning and did nothing. Blind spot monitors did not see a vehicle in blind spot on freeway and my turn signal was on. Monitor did not beep or flash the blind spot monitor lights on mirrors. Starlink 11.6" media center is probably the root cause to this as it frequently lags and freezes. Multiple class action lawsuits have been filed for these problems and Subaru still has not fixed this.