I have really disheartening news for you. AP2+ simply blindly and boldly does charges into situations. Which is why there's lots of videos of it hitting median barriers, bridge abutments, curbs, careening toward construction signs, hitting debris, bumping other cars when lane change aborts, etc. Yes, AP1 is "simpler", but what you're missing is that AP1 isn't designed to operate beyond its capabilities while AP2+ effectively has no limits on what it will do.
That fact seems to have users thinking that the system is "confident" in its decisions, but that's not really what's going on under the surface. It's just blindly charging into situations. The fact that behavior isn't consistent is kindof the dead giveaway.