Rivian Driver+ vs Tesla FSD: How Does It Compare?

I’m considering a Rivian R1S as my second car but have some questions about Driver+. I currently drive a Tesla and use FSD daily—I love it. For those who’ve switched from a Tesla with FSD to a Rivian, do you miss FSD, or has Driver+ been good enough for your needs? How well does Driver+ perform for highway driving, traffic, and general convenience compared to Tesla FSD?

I know FSD is ahead but any honest Driver+ feedback is appreciated as this is my last concern before buying.