Good Lord!
My wife's 2020 Fusion Platinum detects possible departure from the 'normal' roadway and will vibrate the steering wheel, sound a loud "ding!" and pop up a message on the dash suggesting the driver pull over and have a cup of coffee. Yes, I'm dead serious! And it costs a lot less than a commercial airliner!
My 21 F150 will do this. It keeps telling you to keep hands on the wheel, then, If you don't keep it going down the road in your lane, it will tell you that you are tired, stop and take a rest before resuming. If you don't do anything, it will slowly slow down and stop all the while dinging and donging. I am sure I set off bells and whistles back at Ford while they were watching my data, but I did all sorts of things to see how it would react.
My 19 Acura will ding and ask you to put hands on the wheel, then if you don't, it will start slowing down. I never had a good chance to see what it will do beyond that.