Actually in marked neighborhood roads this is very common. We have cyclists and joggers on the side … a lot. Without crossing the middle line, it Would be impractical.Realistically, a situation where you HAVE to cross middle lanes is pretty rare. Most of the time FSD tries to do it is when traffic in front is just slow and it wants to go around them.
I would actually prefer FSD not support this kind of behavior until they get to the "trailing 9s". FSD has so many bigger issues, and incorrectly jumping into oncoming lane can be extremely dangerous