For EAP, one of the features on the roadmap is lane changing without driver input. To do that, the first step is to be able to do it with driver input.
I'm not aware of a roadmap. That feature, along with the use of four cameras, automatic transition from one highway to another, and other fantasies, was falsely - and possibly fraudulently - listed as undergoing "final validation" for expected delivery last December when I bought my car with EAP in November. If you know of a timeline to actually provide these promised features rather than simply catch up with the old AP1 system I would love to know about it.