Chiming in with a 2017 S that received the FSD Beta firmware a couple of days ago.
Nothing more to add other than (IMHO):
1. Perception is WAY better than I expected
2. Car control continues to baffle - Certain things are fine, other things have been issues for years, but these "should" be easily fixable
3. Mapping is still pretty bad, which I believe makes #2 worse
Case in point, went to pick up lunch, car drives fine the entire way, pulls into large, blatantly obvious parking lot, speed limit changes to 35MPH (?!?!?) Leaving from picking up lunch, pulls correctly into the rightmost lane, which quickly becomes a right-turn only lane, car knows it needs to move left, briefly attempts, aborts, goes back for the right lane. THESE are fixable issues.
Most impressive, in the middle of the afternoon, a big ass white tail deer is sauntering perpendicularly across a 2 lane 35MPH road. With FSD Beta engaged, I decided to play chicken and hover over the brake pedal to see what would happen as there was plenty of room. While the deer was paused in the oncoming/opposite lane, I saw what I think was a dog icon appear and the car began slowing down quickly. As the deer moved into my lane, I could see it was highlighted as blue on the dash and the car came to a stop while it sauntered off into the woods. Once it was all-clear, the car resumed normally. To me, THIS is the kind of safety feature that can help today, right now, this moment - perception.