I believe that some of the variability with voice commands may be down to whether the car has good connectivity at the time you voice the command. I have a feeling that it may work like Alexa, etc, whereby the voice interpretation isn't actually done by the car, but by remote services that are sent a digitised recording.
Certainly Alexa works like this, the only word I believe that it can natively recognise locally is "Alexa", and everything from just before and after after that keyword is just sent to Amazon's servers. The "before" bit is because Alexa devices have a continuous "loop" record system, to ensure that the entire keyword can be accurately captured, plus the Amazon system does a second check to ensure that the keyword trigger was accurately interpreted. The digitised recording is quickly interpreted to allow the correct action to be taken, analysed to add to their machine learning database and the personal data added to their main saleable product, in the same way as pretty much every other web interaction.
If the car does do this, then that would explain why sometimes voice commands work well, and other times they don't seem to work at all. There seems to be some sort of two stage process in the car, as the interpretation of the commands on the screen often seems to be gobbledegook, yet the correct action can still be taken. That sort of suggests that the car has an initial go at doing voice recognition itself, and displays what it thinks has been said on the screen, and if the connectivity is good (I'd guess more a matter of latency than anything else) then Tesla's systems can send the car the correct interpretation. Just speculation, but it fits with what seems to happen
It's also possible, probably likely, that the car internal system might be learning from every voice command interaction, so may well improve as more and more voice commands are processed. I believe this is why the Amazon, Google, Apple, etc systems are now so good, they've had hundreds of millions of chances to learn and refine speech patterns.