It was not terrible but the FSD Beta firmware introduced enough issues that affected Navigate on Autopilot (NOA) performance that it just was not worth the effort to continue. I realize NOA and FSD Beta are on separate stacks, however the issues noted on NOA operating through the FSD Beta firmware are not present when operating on production firmware. The issue with obstruction avoidance was noted while operating FSD Beta off highway on city streets. If the vehicle approaches an object (extended gate example) it has not been trained to recognize as a threat in the NN, it will not stop or avoid it. During my testing the vehicle would have driven right through the extended gate at 15 MPH without warning, slowing or stopping. With RADAR enabled, the vehicle alerts, and slows to a stop prior to impacting the gate. I sent several event snapshots to Tesla, so hopefully the NN will be trained on that type of gate. The question in my mind is what happens the next time it does not recognize an object as a threat? RADAR returns are not perfect but they provide a valid safety margin to vision only and are pretty hard to miss.