Now what about active systems from back then? Almost 20 years ago Lexus had learned the lessons that Tesla kicked and resisted until about 2 years ago on. You need to watch the driver to ensure they're full attentive: https://lexusenthusiast.com/2007/09/08/a-look-at-the-lexus-l...

In markets with LKA, that same module was used to ensure that drivers were actively watching the road while it was activated.

In other words a 2007 Lexus did a better job on the one thing that Tesla is still getting dinged on (https://www.consumerreports.org/car-safety/tesla-driver-moni...)

Tesla blamed a man for playing Candy Crush when his Tesla drove into a barrier and killed him. Lexus had solved the problem that killed this man over a decade prior.

A 2007 Lexus would have used its Driver Awareness Module to recognize the man was not paying attention and stopped lane centering. The solution was not complex, not expensive, iirc Tesla even had interior facing cameras by then but was still resisting turning them on until much more recently.

Tesla put their not-marketing ahead of human life, because if they had enabled more aggressive awareness monitoring than capacitance sensing or silly steering wheel jiggles, Elon wouldn't get to tweet about how "you're just there for regulatory reasons"

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Also slightly off topic, but I think my biggest internet pet peeve is when people ask for a citation on a complex problem that requires critical thinking. I can't chew and pour the conclusion for you, but you're free to research before making low effort commentary like "Cite"