This issue is reaction time. The critical maneuvers do not have a lot of leeway. You need to give the FSD Beta some time to do the right thing which leaves the human driver very little time to realize the car is not going to do the right thing and for the human driver to actually correct the cars movement.
This FSD Beta needs much more attention of the human safety drivers than the previous style Tesla FSD.
Human driver full attention (like the human was actually driving) and hands on the wheel at all times.