When I test drove a LEAF with ProPilot, I was able to (even encouraged by the dealership LEAF expert) to engage ProPilot on the 4 lane road in front of the dealership. It is 2 lanes in each direction with a double yellow line down the middle, and traffic lights. I didn't keep it on until I got close to a traffic light, but I didn't see anything stopping me from going through one.
In my more recent test drives (after ny accident) of the ID.4, the lane keeping was able to be engaged on a side road with one lane in each direction, separated by a double yellow line, on a road with traffic lights and stop signs. I didn't try to keep it on near a stop sign.
What do these cars do at a stop sign or traffic light?