I've been testing the left and right turn scenario in the first clips of this video for the past several years. V12 has almost solved this but still has a ways as shown in two of the attempts. Compared to V11, the car has made amazing progress in this tough test.

0:00 Introduction
0:02 Left and immediate right
1:57 Car pauses making left for safety check on oncoming truck
3:02 Car vs trash bag