
Oh man, yeh. What you used was OK, but far from great. It was rules-based and still used a variety of the sensors on the cars, which led to sensor fusion disagreements and some of the issues you experienced.
Today's software (v14) is epic. I've been using Autopilot and then FSD since about 2016. Night and day. It's doing 99-100% of some people's driving now. It's just cameras to controls. End-to-end neural nets (video in, vehicle controls out). Plus it has reasoning now and the very latest version has a super fast reaction time. I've seen it do some boneheaded stuff over the years and I can easily say it's gotten really, really good.
So much so that it finally passed the wife test. She no longer gets annoyed when I engage it and actually prefers it most of the time to my driving 😆
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