It's absolutely worth every cent you pay for it.
(It's included in the price of the car.)
Autopilot is included in the price of your car. Yes, technically you can use autopilot on city streets. Autopilot only drives in your lane for and you have to keep your hands on the wheel.
Based on this OPs signature, he has a LeMR tesla (limited edition Mid Range). Autopilot did not come with that vehicle, so while its true to say it "comes with the car" not every tesla owner has even basic autopilot, if they purchased before about april of 2019 and didnt pay anything extra for it.
For those people, they would have to pay for autopilot (which is likely where this OP is getting that "2k upgrade price" from.
@Tam I am going to (respectfully) disagree with the statement that regular autopilot is safe to use on city streets, but I mean that for "the average owner". Someone who knows exactly what its capable of, and much more importantly, what it ISNT capable of (like yourself), yes, its safe for that person to use.
For the average tesla owner, or specifically, someone who isnt clear what is or isnt include in autopilot, I would say no. Regular autopilot doesnt auto steer on city streets. It also doesnt have traffic and stop sign control, so my understanding is it wont stop for stop signs etc. So, for this OP, 2k gets them what other manufacturers call "cruise control". Most people would not attempt to activate another vehicles cruise control on city streets, so that is the reason for my answer (and respectful disagreement with "its safe on city streets".
TL ; DR, = While I think it would be ok for those very familiar with both their tesla, and what regular autopilot does and doesnt provide, it would be ok to use... but that does not cover most people, and certainly someone who is asking "is this safe".