They changed the features of the system considerably. It used to let you set the speed and handle manually-initiated lane changes. Then they started having it initiate lane changes on its own; because this was annoying, they added a “minimize lane changes” feature. Then (and I think this coincides with “FSD” being released to customers who opted in) they removed that minimize option and replaced it with an entirely new system with different modes, one of which is called “Hurry”. This combines aggressive lane changing with speed choices, but the speed never seems to be quite what you want it to be (manual control is gone.) This isn’t unique to my car: if you search for complaints on Reddit and Tesla forums you’ll find plenty.