They are not in the same type as closed/invite beta as FSD is, the "Beta" label for those is solely a marketing term. All those features are "complete" in terms of providing basic functionality. Of course there will continue to be improvements via software updates, but that's a different thing from saying Tesla owes it to the point they are obligated to provide free hardware updates. Otherwise Tesla would have owed AP1 and AP2 owners new upgrades, but they don't. FSD remains the only package where they haven't provided the last promised basic functionality (for those ordering around 2019 and after, it's the autosteer on city streets).
That the feature may be largely a gimmick or a joke is irrelevant. Many car features are like that (for example a lot of lane keeping systems ping pong between lanes, or fall flat when the road is curvy, their remote parking features are even less effective than Tesla's).