I don't see why staying perpendicular is mandatory. The car has a 360 degree view around it. The more you are turned toward the target lane, the more it becomes like a merge, and the rear facing cameras come into play. There will be situations where target cars won't be visible, but that's true for us too.I would be curious as how you think Tesla will solve the first item above when you have to make a hard 90 degree turn without crossing the line on a single lane road? If FSD would approach the intersection pointed slightly to the right like all human drivers I'd see no problem but with an obstructed B-pillar camera it seems like staying perpendicular and having to creep into the crossing road is mandatory.