We don't know how many other accidents have been prevented by autopilot. A safety system should not be judged by whether it's perfect, but by whether having it is better than not having it.
The NHTSA did a study on exactly this issue by looking at accident rates in cars with autopilot hardware before and after autopilot was actually enabled via a software update. They found that accident rates went down by about 40% after autosteer was enabled.
This seems to suggest that either people are fine with monitoring and taking over when needed, or else autosteer was already so good in 2016 that it made fewer mistakes than humans.
https://static.nhtsa.gov/odi/inv/2016/INCLA-PE16007-7876.pdf