I still keep my stance that people put too much emphasis that a robotaxi needs to drive like a human. It's about being as safe or safer than a human, not to drive like a human (because humans are not safe drivers, they never follow traffic laws and treat everything like it's a suggestion). In a world with only robotaxies, people will be okay with it going 20 on a 50 if there's fog. A human would try to go as fast as he finds tolerable in similar situation as humans always overestimate their abilities.
We know that that robotaxi services like cruise and waymo has speed limiter under the speed limit and takes as many easy routes as possible. Only Tesla folks want a Tesla to be able to complete unprotected left turns over 3 lanes with traffic running at 60mphs.
My prediction is, Tesla will remain as L2 if you want it to drive more human like. Driving speed and minor geofencing will set in for any L4 services, nerfing the ability for Tesla to do really difficult situation. Then maybe after a decade that can relax.