I have emergency lane departure correct me when I'm actually in the lane, not correct me when I drift out (on purpose or by accident) and all the above for warning (non emergency).
I know this because I have Lane Departure Avoidance set to warning but have Emergency Lane Departure set to On.
Sometimes I get warnings and corrections that are correct, so I live with the false negatives, just for the few times it does work (maybe 1 in 20 times I drift over the line - I go over the line a lot when cutting corners, usually not more than half a tire width, never with any other cars around.)
When I had LDA set to Assist, I got so many false positives that it was annoying, and 2x in 30k miles t tried to drive me off the road (once in the deep snow, understandable, once when I was taking an exit (all manual driving) it tried to swerve off the road, unforgivable).
None of this is confidence building in its capability.