Lane assist in GX/4runner

[livemusic]

Want to buy an 4Runner/GX/Upgrade my current truck to drive cross country from NC to SOCAL, late summer.
Since there would be a lot of highway miles, with obvious Camping/ Overlanding detours, I was thinking that the Dynamic cruise control with Lane Keep assist would be invaluable.

From what year does GX(or 4runner) have this feature? Is this a package, or does it come with the truck.
(Also crossposting in LC forum since I am considering that option too)

 

[LostWoods]

4Runner should be everything 2020 onward but it's not assist, it just beeps at you when you deviate. Either way, unless it's explicitly autonomous, most lane assist you will find is an awareness warning, not something to be relied on.

 

[beef tits]

Lane assist is terrible in my prius, useless feature, very jerky and annoying.

The adaptive cruise control function is awesome.

This all started around 2016.