The new appraoch, V12 "end to end neural net" is getting VERY good. It uses only vision and AI. Tesla ditched thier old coding approach and started working on this iteration about 1 1/2 years ago. It's just recently been getting released to the public.

I drove from Midway (top of Provo Canyon) to Provo/Lehi/Pleasant Grove and back on FSD with zero manual interventions, on many roads the car has never been before. I made a handful of stops during the trip.

It is driving very human like. It observes traffic lights/speed limit signs, makes lane changes around other cars, had no problems with a couple of roundabouts, looked out for pedestrians, etc.

This technology has the potential to save so many lives/prevent accidents, with 40k+ killed each year in car accidents in the US, in addition to many auto pedestrian accidents that occur yearly.