I just leased a new '21 Crosstrek Limited. With only 90 miles on the car, while driving on the highway using the adaptive cruise control and lane keep assist, the vehicle started aggressively jerking over towards semi trucks (while going 70mph)- I had to give significant input to not be pulled into a semi truck. I turned off the feature then turned back on. Again, it was hard jerking only towards semi trucks. Drove back to the dealership. Their mechanic took for a drive and said the exact same thing, that it was "sketchy" and jerking towards semi trucks. It was suggested I bring back if the "condition persists" which would mean risking a fatal collision with a semi. I contacted the GM of the dealership and explained what was happening and he said to being back again and they'd get a field tech from Subaru to test. Their service manager test drove and noted the same thing, as did the field tech. "Severely pulls to the right as trucks pass. Test drive vehicle and found that when using lane centering, vehicle is quite jerky and pushes towards centerline, especially when larger vehicles like a semi trailer is present. Recommended calibrating eyesight camera and test driving again". They calibrated the Eyesight and I picked back up. Drove back on the highway and turned on LKA, this time the steering was completely taken over and jerking all over the lane and flashing telling me to keep hands on the wheel when both hands were very tight on the wheel. It's continued to jerk all over while using lane keep assist and when I try to override the steering to avoid a collision the wheel feels like it's fighting me. It's extremely dangerous. The car now has 300 miles and I'm terrified it's going to kill me and it's putting everyone on the road at risk. I had the same tech in my '19 Impreza Limited and didn't have a single issue. I fear there is a serious defect with the Eyesight and LKA. No codes are present. They said vehicle is operating as designed, it's now more more erratic

- Machesney Park, IL, USA

The lane keeping feature will randomly cause the vehicle to veer towards the center line at a variety of speeds and under a variety of conditions, requiring immediate driver correction to avoid crossing the center line. No accident has occurred but the system is now deactivated. In addition, the collision avoidance system does not reliably acquire a vehicle ahead if that vehicle is stopped and the speed differential is >30-40 mph. Without driver manual braking, a crash would occur.

- Walworth, NY, USA