Why do you eliminate Hicas?
A: The main advantage is the removal of a system which changes the attitude of the rear of the car (not the driver). Most drivers prefer to be in control, not an ECU. It is very disconcerting to have chosen a line around a corner and then have the HICAS change it. You decide to correct, and the HICAS changes it again. This is very unsettling, and the primary reason most drivers get rid of the system.
In addition, the removal of the rear steering rack makes up a significant weight saving.
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