takes a little getting used to, for myself, I guess it was just learning to trust FSD in situations where it responded differently. The more I learn to trust it, the more I use it.
It also seems to handle a variety of situations better when you are around 5mph below the speed limit.
It has disengaged a number of times over the last weeks forcing me to take over, however, I don't recall a situation where it has put in me in harms way.
That being said, I still disengage it when it does things that I simply don't do, like in residential areas, driving down the fricking middle of the street and grudgingly moving to the right at the last second the minimum amount necessary. I know that is acceptable for some people, but I don't do it and I certainly don't do it when vehicles are incoming, so I just disengage.