I have a '22 that has the HDA. I'm old-school .... well ****, I'm OLD! (61), and while I do like it, it takes some getting used to. I haven't had the car but a couple weeks and just recently took it on a 120 mile trip. The HDA kind of felt like someone else was steering the car! Even though I had my hands on the wheel, it STILL felt like someone else was driving! I'm sure I'll get used to it though. I'm new to this technology, but yeah, I'd still go for the '22 model. As for a warning, I think I only get that if I get too close to the line, the HDA just does its thing without warning because you stay "between the lines" .