People keep confusing different concepts. 10.2 was absolutely safe. If you’re taking part in the EARLY ACCESS FSD Beta, then you are accepting a number of liabilities and personal responsibilities. It even says so clearly in the email and agreement you clicked yes to on your vehicle’s screen.
That being said, you are NOT obligated to drive city streets on FSD beta. You can drive as you do with any production firmware release. I’m not sure how people don’t understand this. If you don’t like FSD beta, either opt out entirely, or simply don’t drive on city FSD AP. Simple.