At least for the base autopilot (AP), the only system I’ve experience with, this is not true. My car doesn’t know it’s on a road with cross traffic. It only knows it’s on a road that it can see lane lines to differentiate lanes. It doesn’t even know which direction they are supposed to travel. If I cross the center line, I could activate AP and it would keep me centered in the lane with oncoming traffic. This was all thoroughly explained to me when I bought it. I had no misconceptions about it’s capability.
It really feels like the people who are so opposed to it are working off some major disinformation which only muddied the conversation when they state things that are plainly wrong or misuse terms.