This is pounding on one data point (one intersection) with several trees in the way of sight. It doesn't seem this bad watching others (at different intersections like this one). But it does need to do better, in time. I also get the sense Chuck plays devil's advocate and looks for issue, which is good, but I wouldn't be surprised if this is his trickiest intersection.
Likewise, I could show you how my Model Y changes lanes in a curved intersection, and last week almost hit a truck directly in the lane next to me. Scariest intervention yet! If I went through that same intersection over and over, you'd think it can't see the lines at all. So ya, the quirks are out there but I could see people never trusting unprotected lefts after watching that one, which isn't representative of this manuever IMHO.
I do think reverse will be needed. It's what humans do when we get out too far trying to see. Think about this... We're trying to tell the car to go, but it can't see, so when it does, it's too far out. That's a trap I say, impossible without reverse.