I've been testing stuff and found some issues with the speed limit signs.

At first I was testing a speed limit sign then after an intersection a remove speed limit sign with just pavement assist on and holding W. The speed limit sign would slow the vehicle down, but aside from the speed limit not holding a constant value (it seemed like it just removed the W input so I was drifting), the remove speed limit sign did not speed me up, if the limit sign removed my W input it would make sense unless I unpress W and press it again.

I then tested cruise control, which it worked as expected, however when I went back to testing the previous way, pavement assist only, it was now ignoring the limit signs, I toggled both cruise and pavement assist and couldn't get it working again (I assume a reboot would work, not tested).