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When I drive it’s not centered in the lanes but instead it’s offset, is it supposed to drive in the lanes? Or instead on top of the lines? I’ve never used this feature before.
In this screenshot you are lined up with a GPS line but have not yet activated. Hitting H will turn the center line from yellow to green and it should auto-steer unless you add any throttle or steering input, then it will deactivate. So generally I'll move till the line I want lights up, hit H and then 3 for cruise. And activate/lower the implement as necessary.
Hope that helps.