But anyway I would argue that nearly every time a competent human disengages due to something outside the comfort zone, that was a mistake by the car - it was deviating from prudent behavior. I don't think these type of systems should routinely engage in behaviors that would result in reduced margins, since they make it too difficult for the human to recover.
The words 'nearly' and 'competent' are doing a lot of a heavy lifting in that sentence in my opinion. There I times I drop out of FSDbollocks because I don't want to have to put the attention into anticipating every mistake it is going to make. It is easier to just drive the car myself. Not every time is my comfort zone reasonable according to the drivers here on TMC. For instance, in heavy rush hour traffic, I leave 2+ car lengths in front of me and never take offense if someone fills the lane in front of me, I just drop back to recreate that cushion. There is a school of thought here that makes me incompetent.
Comfort zones are a tricky thing. So I disengage a lot but most of the time it is because FSDbollocks has not demonstrated that I should trust it. So the 'nearly' does apply. Most importantly, I'm never testing it in tricky circumstances or on city streets. I don't have the energy to deal with its inability to drive the way I drive, slowing down in anticipation of situations (like red lights) that the car has not seen yet (or at least are not on the screen as being in its line of sight.)
Where I do use it is the route to my son's. That is 5+ minutes of city streets to the city freeway (no FSDb used at all because I don't use it on that sort of driving.) Then freeway to 4 lane divided highway interchange which in good weather FSDb can handle that but taking it at a higher speed (25% higher than the suggested speed) than I'm comfortable with so I scroll it down and back up. If the driving conditions are suspect (potential for black ice, wet, snowy), I disengage because my version of FSDb doesn't respond to driving conditions (except sunlight on the cameras.)
There's a slowdown at a particular point (have my foot on the go-pedal to nudge since this is not a real or imaginary speed change), then slowing down as the highway enters the outskirts of a town and becomes a city street, with two through lanes and assorted turning lanes, including an alternating shared left-turn lane for a section. At the opposite end of the town (~8 blocks and one traffic light) I need to pull into a dedicated left turn lane and turn onto a 2 lane highway (with passing lanes every 10km or so to get around slow moving vehicles, slower through a couple of villages, and a couple of traffic lights) and proceed 28km to my son's town where I disengage because of city streets.
I disengage before at the end of the 4 lane highway because it won't slow down smoothly from 100kph to 50kph as the highway ends and it keeps me in the right lane (I'm set to Chill) which is actually the worse lane for speed (several dozen business driveways) and difficulty to get into the required left turn lane due to traffic volume of cars in the better lane avoiding all the right-hand turning folks into the businesses. If I ask it to move to the left lane while on FSDb, it will but it moves back to the right lane as fast as possible, including within a half block of the beginning of the left turn lane I need. I've never made it through the down without disengaging. I've reengaged while in the left turn lane waiting at the red light and it has pulled forward when it got its protected turn light but since its path was into the (occupied) lane of the stopped cross traffic, the only time I tried it (an early version of V11), it failed, and I'm not in the mood to give it another chance until it can make it into town in the first place without me needing to disengage.
It has got better about moving into the passing lanes on the 2 lane highway but still dives into turning lanes (not consistently in the same spots, though.) Because I don't speed, I need to allow others to pass so I appreciate it being reliable on moving out of the way of others but it is unreliable for moving back when the lane ends; we still get occasional (but not predictable) drives along the shoulder when the lane ends and the car is 'surprised' (that we experiment with only when there are no other cars in sight.) Sometimes it will move into the through lane if we signal, sometimes it won't. We never signal asking for the lane change if there are other vehicles in the lane so we have no idea why it works sometimes and not others.
So there's no trust whatsoever, even on relatively simple parts of a mostly highway drive. Each time we update, we let it try (and for a brief time in the fall the predictable slowdown on the highway went away but it is back again with our current version.)
It is frustrating for me to see posts about all the improvements others see but while highway is much smoother, we are still getting occasional dives into turning lanes off 2 lane highways and no improvement on the stretch through the edge of town.
So 'nearly' every time I switch out it is because I'm anticipating or experiencing bad behaviour. Will the car crash if I don't disengage? Likely not but I might get pulled over for DUI-like behaviour (part of the drive is past a provincial police station so this behaviour being seen by an officer is not as unlikely as one might think).
As I only use FSDb for mostly highway drives, I'm not in any rush for V12 since the majority of my driving would still be under V11. But it has such a long way to go to get over 'comfort-level' disengagements, I doubt I'll see a big change in 2024 at all. I need my car to be consistent and safe all the time, not just mastering a 4 way stop or a particular UPL in the US while not managing to deal with the different road markings and speed change signage we have in my province.
