On the FSD side of things, the latest update includes this.
Your car may warn you in some cases if it detects that you are about to run a stop sign, in addition to stop lights, while Autosteer is in use. This is not a substitute for an attentive driver and will not stop the car.
To me this reads like the beta/training version for NAV on city streets. Surely Tesla is monitoring cars for the situation where the car detects a stoplight/sign and the driver doesn't stop (false positive) and situations where it doesn't detect it (or at least not on time) and the driver does stop the car. So best case that means NAV on streets is 3 months out?
Edit. I got the update last night. It also includes "more assertive" lane changes using NAV on autopilot so I'm interested to test that out this afternoon.