IMO, FSD Beta still needs a lot of work. FSD Beta can drive really badly. I definitely experience the jerky turns, poor acceleration, phantom braking, and bad maneuvers. But to say that there's been no improvement at all in 10 years is not fair or correct. There's definitely been a lot progress since AP1 and FSD Beta has improved since it was first released. if you recall when FSD Beta was first released, it was even worse. It would drive into static objects, drive into incoming traffic etc... A lot of those errors have been fixed. FSD Beta is more reliable now. And Tesla has implemented new architecture like occupancy networks that have helped the car avoid obstacles better. So there has been progress. But it does need a lot more improvement before it is even close to L4.