My fear and conjecture is that it hesitates on unobstructed turns because it can see - therefore it has decisions to make. It may not hesitate on obstructed turns because it can't see - therefore it sees no problem. In other words if it can't see a problem it doesn't consider that there might be a problem.it does seem like currently the car as a higher preference for relying on the front cameras. If the car leans toward the direction you want to go, the other cameras do have a good shot at seeing past the obstruction without you having to cross the center line of the road you're turning on.
What I notice about these heavily obstructed turns is that the car is practically guessing that the way is clear. And as it starts to turn, I'm floating the brakes just in case there's a car barreling down the road. I'm usually thinking, how does the car have any confidence with this turn when it's so hesitant on unobstructed turns....
I have no way of testing this, and I hope this is not correct, but other people have shown that when it can't possibly see, it goes anyway. Which if true would be the worst thing to do.
But someone would have to run some obstructed tests with rapidly oncoming objects to know for sure.