Lane keep assist annoying beep

So, the Rav4 Prime that I own, does 0 beeping and is much nicer to deal with on longer drives vs the Prius Prime my wife has.
Same company. Same TSS/tech. Very different implementation. Weird.
The other thing that is annoying - the Prius uses the classic Toyota cruise-control stalk, which I find to be very intuitive to use. Much better than my 2016 VW setup (buttons on steering wheel) and definitely better than the Rav's steering wheel buttons.

Same car company, very different setups. It seems like each design team is isolated from the other and they do not share info!
Also, no reverse beep, that many of us turn off on the Prius - not present in the Rav. W T F Toyota?