Autonomous Driving?

Which trims, if any, offer autonomous or semi-autonomous driving features?

If you have this feature, do you use it? Is it worthwhile? Do you feel it's safe?

I was checking out the Toyota Crown Signia, and that vehicle offers some innovative autonomous features. I figured the Lexie did as well, but can't find much info about it except for the driving 3.0, which doesn't seem to be as capable as the Toyota system in the crowns.