Driving policy is a hard task, that Waymo tackled well with a lot of work, programmation and simulation, and that Mobileye is pushing the formalization through is RSS paper (Responsibility Sensitive Safety).
But the best driving policy worse not much if you don't have a perfect situational awareness.
Waymo and Cruise are getting there thanks to LIDAR/vision fusion + HD map. Mobileye is pushing an even more ambitious solution with HD map (collected thanks to his EyeQ4) + 2 fully independent system pure vision on one side and pure lidar on the other side, which offers the huge advantage to allow the development of incredible ADAS system based on pure cheap vision, and level 4/5 self driving with the two systems.
Even if Tesla if cracking the HD map+vision as Mobileye is on the way to do, the question will still be the lack of real redundancy for FSD. Radar is a plus, but not precise enough to confirm or infirm the vision result : is it a strange shadow or is it something real I will hit? Is it a strange pothole shape or is it a small kid lying on the road?
Vision+radar will surely make a lot of progress but there is no chance it will be as reliable as redundant vision+radar and lidar as Molbileye is pursuing.
Don't get me wrong, I'm a Tesla fan and investor that think that among the many domains Tesla have disrupted, they are huge success but also a few mistakes. And autopilot communication for me is one of them.
As long as autopilot is level 2, its a hugely convenient system (that will get even better with end to end) but very far from a safety improvement due to the necessary imperfect automation+human dimension (the better the system work, the worse the human get on average).
Getting to level 3 (on highway for instance) not even talking about FSD is a huge leap as it imply full liability.
Tesla and Musk have shown their ability to recognize mistakes : Falcon wing doors, too much complexity on the X, automation of model 3. Perhaps it would be time to admit that the FSD, autopilot safety communication was overoptimistic, and target a more realistic true level 3 on highway (which would be already a huge achievement), and focus on pilot monitoring as autopilot will be a level 2 system for still many year perhaps even forever without new material.
Tesla should implement pilot monitoring quickly, even at the price of retrofitting S and X with internal camera.
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