Marco Arment has written up a very good overview of the autonomous features implemented by current Tesla cars.
While I like using Autosteer on long highway trips, frankly, I’m amazed that it’s legal. I don’t think it’s a big enough advance over adaptive cruise control to be worth the risks in its current implementation. I’m scared for what will happen to Tesla and the progress of autonomous driving as more people use Autosteer in situations it’s not good at, or as a complete replacement for paying attention.