As far as my (extremely limited) understanding is, adaptive lane guidance setting within the DAP feature 'Advanced Lane Guidance'
can give a better experience with lane guidance IF you find that the car is 'ping-ponging' between the lane markers whilst locked in a lane. Intervention (when the car steers for you to adjust lane positioning) can be set to 'early' or 'late' and additionally will give you a new menu option in the car menu.
I don't know which setting gives a better result, but I think the point is it gives you a little configuration of the feature which from factory is not exposed to the driver.
Lastly FLA (front light assist) is as far as I know High Beam Assist (HBA). This feature also uses the A5 camera module, but in this case to monitor the road ahead so that high beam is automatically dipped for approaching traffic, or if you approach another vehicle from behind.
Not to be confused with DLA of course (Dynamic Light Assist) which is effectively HBA+, for vehicles with variable light distribution LED headlamps...
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