Once Tesla's software is able to detect objects in front and around the car, the biggest challenge will remain - interpreting that data to operate the car safer than a human driver.
The hard part is handling all of the unusual cases that come up during driving - complicated by the lack of standardization on the design of roads and signs, along with interactions with humans such as police, pedestrians, ... [Still concerned about how FSD will detect non-visual indicators, such as train horns or emergency vehicle sirens - for objects that are approaching but not yet visible...]
I don’t think covering this situation will be possible until ALL cars dynamically communicate with each other on the roadway. In this case, emergency vehicles can “clear a path” dynamically, far ahead of their current location. That is a long way off, I am afraid. Tesla’s efforts are baby steps in the grand scheme of things.