Have you ever tried using the turn signal when it's making a lane change you don't agree with? When I see on the display that it is going to change lanes or it starts to turn on the blinker for a lane change I don't want I've found that pushing the turn signal stalk in the opposite direction cancels the lane change or prevents it from happening in the first place. I do this quite often. I also sometimes want it to change lanes & I use the turn signal to tell it to change lanes even when FSD Beta is content to stay in the lane it's in.
One thing I've disliked since the start of using FSD Beta many months ago is that it waits way too long to start braking for stop signs or red lights. I will never use the brake pedal until the last few MPH before a complete stop, doing all my slowing down with regen. Since I've been driving hybrids since 2011 & EVs since 2014 I'm very accustomed to regen braking & maximizing by regen. FSD Beta waits too long to begin slowing & then has to use the friction brakes because regen alone will not stop in time. I've verified this by lightly resting my foot on the brake pedal when it's going to stop & I can feel the brake pedal depressing. This is another big issue with FSD Beta. When I recently washed our car I couldn't believe how much brake dust there was on the front wheels, but it's because of FSD Beta using the friction brakes excessively. The issue isn't that the car can't see the lights. It will show a red light on the display & still keep accelerating. I use the stalk to lower the set speed but since it doesn't slow down it will even still accelerate even though I have set the speed slower than the current speed.
For example, the main road near our house is 40 MPH & 3 lanes wide each direction. Traffic typically is going 45+. But since it's a dense urban environment there is literally a traffic light every single block. If I see that the next light a block away is red I'm not going to keep accelerating to maintain my 45 MPH speed, but I'll start gradually slowing down well in advance. I'll even start lowering my set speed down to 25 MPH or lower, but the car will keep accelerating to maintain the 45 MPH speed. And when it does start to slow down it won't go into regen, it'll just have less power going to the wheels & less of an orange line on the dash circle graph, but it's still expending power instead of slowing down. This then causes it to have to use the friction brakes instead of stopping with regen only.