V0.8.15 sa master

[Williams52222]

Describe the bug

1. Car goes off road on right side when the road makes small curve to the right.
2. car stays too close to right side
3. Car bounces between left and right lane lines on highway
4. Car tries to follow other car in front when car in front makes a turn to the right
5. Car tries to stay to right during fork in road even though double yellow lines stay to the left of the fork in the road

What hardware does this issue affect?

comma three

Which car does this affect?

Toyota Corolla Hybrid

Provide a route where the issue occurs

6f04dedb82e472c5%7C2022-06-07--17-56-51

openpilot version

0.8.15

Additional info

Additional route
6f04dedb82e472c5%7C2022-06-07--21-49-50