"You missed the easiest way to disengage auto steer, which is perhaps option #4. Simply start manually steering. Instantly you hear the Tesla chime to indicate auto steer has been disengaged. Stalk forward is to disengage cruise control, but yes it also switches off auto steer as well. There is a pretty clear dash indication when auto steer is active. Not just a blue steering wheel icon, but blue lane markings on dash. I do agree it would be better if the brake pedal didn't instantly release auto steer though. I'd prefer it didn't myself. You do rely on auto steer a lot pretty quickly, but press brake pedal and you might instantly be steering into traffic. It's not serious, but is an issue. I'd prefer to see a progressive reduction - maybe auto steer disengages a few seconds after the brake is pressed, so you hear chimes but have three seconds to grab the steering wheel before it becomes dumb again. Can't complain though - I've been driven auto pilot by my car more hours than I steer manually now. Very cool, and much more relaxed drives."