I see your point. Tesla is always gonna be ahead in the 3 angles mentioned (software, performance, battery) as it has had a great headstart. It's gonna be tough for any automaker to be at par. They will need to come up with differential value as they chase Tesla.
I would look at the 'catch-up' in a relative measure to where we are today point of view. In other words, say 2 years from now, if BMW came up with an auto-pilot system as capable as Tesla's version today (steering assist, TACC at par with Tesla) and put it into their X5 or X7 SUVs (electric, hybrid drivetrain) , then for someone like me, I will take that into serious consideration as I would value the luxury aspects to have good ride comfort in addition to the reduction of drive fatigue using an AP like solution.
No doubt Tesla will be far ahead in the game in two years but if battery, performance do not matter to me and the BMW fulfills my needs (AP like software reliability), I might move away from Tesla.
The same could apply for battery range, battery life, performance as each of us would value a different aspect with priority.
Again, this is hypothetical and not sure where the other car makers will be in 2 years and how far they will improve. I am sure they are not silent as well but are putting some serious effort to catch-up.
In as much as I love my Tesla, nothing stops me from looking at other automakers to see if they can fulfill my needs as well. Rivian is one such example their batteries to begin with are not gonna be at par with Tesla but due to their software-first approach, I am hoping their ADAS are better than the traditional automakers.
I know most folks in the forum are passionate about Tesla as a company & I cheer Tesla on to meet greater success. At the end of the day, I perceive it as my problems being solved by a product that Tesla sells. If there is competition and differentiation, then I might opt for another product. Tesla will have to do better to win back my business. (I know I am a small drop in the ocean
and if one customer goes doesn't make an impact to Tesla).