Turn the Autopilot off by tapping UP on the drive stalk (right side of steering wheel).
Also with only basic AP we don’t have the auto lane change, to make the lane changes easier, put the turn indicator on. This will reduce the force needed to take over the wheel, and the traffic aware cruise control stays active. Once in the new lane, double tap the drive stalk down again to reactivate Autopilot.
Image is from Tesla.com.