Tesla continues to create confusion by calling the option Full Self Driving, since that will only be available when Tesla believes they have the software working to allow non-monitored driving on at least some roads, it's been validated enough that they can get regulatory approval 9at least on some roads) to enable the software to operate without human monitoring and the liability/insurance issues have been resolved to clearly determine who will be liable when accidents occur (Tesla and the other manufacturers don't want to be held responsible for accidents, even though they are essentially providing the drivers).
So even if Tesla believes their software is "feature complete" by the end of this year, no one knows how long it will take before you'll actually be allowed to use Full Self Driving.
However, until then, as Tesla completes development of individual features, they'll update the onboard software to add the new functionality, under driver control - features like automatic lane change and enhanced summons, which are in the process of being distributed now. And Musk has indicated features like street/traffic sign/light detection and pothole avoidance are coming.
And even though those features will likely to have some issues when they are first released, based on the experience with lane keeping and TACC, as Tesla gains experience with the software, it should improve over time - and even if Tesla doesn't have approval for FSD, using those features in "driver assist" mode should be a significant improvement.