[Rav4-lim]

"LTA" is the icon that shows up in my 2020 instrument cluster. "LTA" needs a lot of work. Nothing new for me, but again just 2 days ago while 75mph hwy using LTA-RECC, the LTA wanted to follow the lines of an off ramp. The RECC part is great.
City roads it works ok-ish, it will often lose lines on road when it's early or late sunshine and the filled road cracks start to look like lines for LTA.

You can turn it off, you can also adjust how sensitive it is.

As far as LTA being "dangerous". Yes, it can be. A few years ago there was a local/state/fed politician (forget exactly) that was killed when the Toyota vehicle they were in crossed over road divider line and hit oncoming vehicle. LTA is 'on' and in a high sensitive setting by default, so I always questioned if that vehicle jerked wheel to left for some reason, which is possible given the right conditions.

 

[Rav4-lim]

You can turn down the sensitivity of LTA.
It's helpful if your hand slips off wheel, wife tries to do makeup, let go to grab that coffee.
Some don't like it at all, some like it.
Tracking needs to be advanced some, this LTA is not that great.