I find highway driving more relaxing using FSD. It will request lane changes appropriately and then I can just approve instead of having to constantly wonder which lane I should be in to make the exit in time. I have to take over quite often but on the whole it’s definitely made driving more enjoyable. So I use it almost every time on the highway. I bought it when it was 7k and at least half of my motivation was to see how it progressed (since I am in the AI field myself), which it has significantly since then.