The fire truck was a couple years ago, and I don’t think it would happen with today’s firmware.
I don’t know what happened with this new case in CT, but I’m guessing it is some form of mode confusion - the car didn’t think it was doing what the driver thinks it is doing.
As someone noted above, one obvious way for this to happen is the driver accidentally pressing the accelerator while they twist in the seat to look behind them.
Detecting stopped cars is a fundamental challenge for all Adaptive Cruise Control and Autonomous systems, but these days Tesla has gotten pretty good at it.
Huh this is just 4 months ago? Video: Tesla in autopilot mode bursts into flames