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You havent said a word about the condition of your wheels/tyres etc - they can impact the Sensing suite.

100% this, once our lease was up for our 2020 with under 10k miles(cause covid and we ended up having getting a hybrid and that became the work horse during lockdown), first thing i did was throw the factory ecopias away from some pirelli scorpion as. I used to always turn on lkas on the highway with the ecopias, because there was just so much sway and this was evident as when LKAS was on, it would constantly beep. After the pirellis, i stopped using lkas as the car just felt ALOT more stable, and when i do turn it on, it barely beeps anymore. also Tire threads might still be good height, but if you're still using factory, you're essentially using 5 year old tires

 

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Pirelli Scorpion Verde installed in my driveway by Tire Rack with 20,000 miles aired 33/front and 30 rear.
Extremely pleased with these tires. MUCH quieter than original Ecopias.
Scorpion verde have a 60,000 mile rating.

I dunno if it will be the same for the Verdes, but i recently pumped my scorpion as plus to all 38(nitrogen) since its winter here in NJ, and i used to have it at the recommended psi, and it feels like the car is a bit more stable and def less "mushy", but I've never had Lane Departure constantly go off either. maybe something is misaligned with the camera as another pointed out. Probabaly best to get someone to video in the front seat showing how you're centered in a lane and the warning going off and showing it to mechanic