The nudge when leaving a lane is annoying and something I turn off. Going near / over the lane lines happens inadvertently from time to time while driving and the nudge often catches me by surprise. I worry it might cause me to instinctively pull the wheel back too hard by mistake causing an accident.
Going over lane lines does not happen inadvertently with any frequency to most people who are paying attention. If this is happening often enough and you're zoned out enough that this is something that might cause you to over-correct I question if you ought to be driving at all.
For me it really depends on the actual implementation. On most rentals I quickly disabled it because it really felt unsafe. But on my own car, different brand, it feels quite „naturally“ at least for me.
