My wife has a Tesla Model Y so I'm familiar with auto-steer.
I had it on my F90 - it's definitely better than Tesla in terms of lane centering, lane change and overall smoothness. In FL - for whatever reason it struggles finding the lines on when crossing bridges in the rain.
I do not have it on my F97 (purchased off the lot). Definitely miss it.
I had planned to order a G80 and this was a must have option for me. However. The off center sensor for the adaptive cruise would have pegged my OCD. So I'm ordering another F90.
Bonus for DAP - when you get into stop and go, the system actually allows you to go completely hands free up to 40MPH. Obviously do so at your own risk, buyer beware, you're in control of your own vehicle and so forth - but really well done BMW (especially for 1700 bucks).