To clarify, I wasn't saying that it literally just goes in a straight line without any additional collision avoidance logic, just that from the drivers perspective all they have to do is make sure it continues in it's lane, as opposed to FSD where there is an order of magnitude more decisions the driver has to monitor. There is a huge difference between the focus required to make sure your car driving on the highway stays in it's lane and doesn't run into stopped vehicles, vs the focus required to make sure your car doesn't turn in front of other cars or take a turn to wide and hit something.

I wasn't including Navigate on Autopilot as a part of that but even with Navigate on Autopilot, the driver has far less to monitor than with FSD, since it just changes lanes on the highway occasionally rather than having to turn across traffic, frequently switch lanes in the city, or manage stop signs and lights.