AP 2.x and 3 can definitely navigate around construction cones/barrels as I’ve let it do so on many occasions on recent firmware.
In this case there’s a good chance it would have moved over if the semi wasn’t in the right lane.
I don't know what you have that I don't. But my hardware 2.5 model S goes straight towards cones 100% of the time. I've never seen any of my Tesla's move an inch or slow down to avoid hitting cones big or small.