Let me start off by stating that I am happy to be included as an FSD beta tester. Much of what FSD beta does is truly amazing, and I look forward to seeing the progress. However, sometimes it fails to complete a maneuver in a safe manner. In this case, FSD beta did not slow down enough before the turn and then attempted to complete the turn too late. It was about to leave the roadway when I took over. What is surprising is that the FSD beta has previously completed this turn without any problem. I don't know what was different about this time. I did report the incident using the screen icon. Note that I would have interceded sooner if there was a risk of an accident.