My Tesla is the first car I’ve had with it so I can’t compare but I haven’t found it to be annoying enough to disable. Once in a while it will squawk when it thinks I’m starting a turn too early but it’s generally pretty good.
My son’s Forester has a lane keep assist feature (I think it also has lane departure warning but I can’t be sure.) The lane keep assist feature automatically shuts off when you activate the turn signal. I would assume that lane departure warning systems do the same so assuming you signal appropriately before changing lanes it wouldn’t be an issue.
