My 2019 Audi S5 was excellent at this. It would ping pong at most once then auto-correct itself to be perfectly centered in the lane.
It did some weird things like if the car in front of you was driving a bit too far to the left/right of a lane, it would copy them. Other than that it was nearly perfect, though. Never had it take an exit by accident, etc.
Their tuning on when to accelerate/brake and make it smooth needed a fair bit of work, but I found that switching the drive mode from Dynamic (Sport) to Comfort changed the eagerness of the system and smoothed things out.
It did some weird things like if the car in front of you was driving a bit too far to the left/right of a lane, it would copy them. Other than that it was nearly perfect, though. Never had it take an exit by accident, etc.
Their tuning on when to accelerate/brake and make it smooth needed a fair bit of work, but I found that switching the drive mode from Dynamic (Sport) to Comfort changed the eagerness of the system and smoothed things out.