Lane Assist Question

Son purchased a 2026 Camry from a dealer 3 hours away and I got to drive part of the way home. We tried out the lane assist and it was cool how it kept the car in the middle of the lane. On the highway we came across a couple of people on bicycles on the side of the road. I had turned the lane assist off earlier and I naturally moved over towards the middle of the road to give the bicyclists plenty of room and we went past at 65 mph. I got to thinking if I still had the lane assist on the vehicle would of moved me back into my lane and I would of been dangerously close to the bikers. Do I need to learn to signal before going around bike riders like this or would the Toyota Sense system know there were bikers there and let me go around them safely?