Even a current Toyota Corolla has lane assistance but turning it on, settings etc are just better at the Tesla model 3 I drive. Lane keeping is good, haptic and audio feedback are good.
The Toyota has haptic steering wheel feedback that I have not figured out yet, it steers but also leaves the lane. The Toyota chirms/acoustic sounds appear to me not used consistently across different functions, sound too similar or not warning enough. Admittedly this can all be personal choice and getting used to.
