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Needing to press resume is normal (my old X4 was like that too). I'm still learning how the lane keep assist works but I don't think it's intended to be used driving through intersections. I know it can either follow the car in front of you or use lane lines.
I think there are some complicated rules about what will work in what scenario. Kind of like the park assist, trying to use the feature is so complicated it's easier to just drive it like a normal car.
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