Not sure if it's the case with the full self driving stuff since I haven't bought it for mine yet but at least on the interstate autopilot I've used they have settings you can change on how aggressive the Tesla will change lanes. I would think they would have similar settings for this but no clue.
I love watching these videos every once in a while to see how things are doing. Progress is steady but it still feels like it'll be years before cars can go driverless.