TBH, this looks to me like FSD isn't even engaged. Speed isn't the issue, not following the road is. I drive a highway that is MUCH "more windy" than this, and FSD has no issues with it. (BTW, definitely the 12.3.x stack) Maybe FSD was engaged, maybe it wasn't. But speed isn't the issue. FSD is far from perfect, but this just doesn't look like an FSD error to me. We know for a fact that at the very least the driver was not paying sufficient attention. Given that, and his excuses, my personal opinion is that the driver screwed up and now wants to blame it on FSD.