>else autosteer was already so good in 2016 that it made fewer mistakes than humans.
No no no no no! The NHTSA report says nothing about whether Tesla's system is safer than humans. In that study there are two buckets, one which is total Tesla miles in TACC-enabled cars and then after the update total Tesla miles in cars with TACC + Autosteer and they calculated on airbag deployments. Human driven miles are going to dominate both of those buckets and there's a reason the NHTSA report makes zero claims about Tesla's safety relative to human drivers. It's totally outside the scope of the study. Then add in that some researchers who are skeptical of the methodology and have been asking for the raw data from NHTSA/Tesla have yet to receive it.