One specific issue that Brandon got pretty annoyed about was a right turn on red waiting too long and concerns of annoying other drivers also waiting to make a right. In this case, the cross traffic was making a left turn, so human drivers generally would just take the right turn if it's clear nobody is making a U-turn. FSD beta first showed a message of waiting for its turn then another message saying it was creeping up to get better visibility as the left-turning vehicles were blocking the view of the cars that still had the red to go straight across. He ended up taking over as the left turn ended and cars were starting to go straight, but Autopilot had creeped into the crosswalk.
This might be some specific software 1.0 driving policy that just hasn't been written yet, and the current behavior is only looking for stopped traffic on the left vs a smarter behavior would be to realize the left turning traffic will block / stop cross traffic. Ideally the driving policy will eventually do something smarter, but does it need to happen before a wider release for this situation?
Looking back at Navigate on Autopilot deployment, things were definitely cautious and people complained that they would make the lane changes faster, but that initial wide deployment of NoA was trying to be extra safe with unnecessarily long buffers. I wouldn't be surprised if Tesla deployed FSD wider even with annoying but safe behaviors, so that they can actually measure what's a more reasonable smaller buffer using fleet data.
