Yes. Turn it OFF.
I had occasion to rent a 2019 RAV4 Hybrid Limited several times prior to taking delivery of my own. I ran through all of the "driving assist" features and came away with a vigorous thumbs down on each and every one of them.
Generally, I find myself having a rather hostile posture toward "Driver Assist" features. If someone isn't up to the task of maintaining lane control, paying attention to what they're doing, operating a vehicle with the awareness and consideration that they are not the only vehicle out on the road? Well, Get Off My Lawn!
In normal conditions, I keep my vehicle curbside tires within inches of the 'fog line' ---- the objective being to keep as far away from vehicles in the adjacent lane as possible ---- or my driver side tires are against the yellow median line if I'm passing on the freeway ---- this is defensive driving. The Toyota Driving Assist feature that tries its best to figure out where lanes on the road might be? Yeah, it is not compatible with this driving style of staying as far away from adjacent lanes as possible while still remaining in MY lane.
I also assume (and this assumption gets reinforced, constantly) that people sitting behind the steering wheel in other vehicles : 1) have had too much to drink, 2) are having a medical emergency, 3) are new to Earth from another planet and have never driven a vehicle before and have zero clues about traffic laws and rules of the road, 4) are trying to collide with other vehicles, 5) are engrossed in a game of Candy Crush on their phone and driving is way down their priority list, 6) are narcissistic assholes without any insurance and they're just itching for some engagement.
