When Musk went public with delusional claims about what Autopilot's HW2 would be capable of, the director of Autopilot at the time, Sterling Anderson, made the principled decision to resign. Sterling later teamed up with Chris Urmson and Drew Bagnell to co-founded their autonomous driving startup, Aurora innovation. When the fledgling startup was only 3 weeks old Musk levied a meritless lawsuit against Aurora, accusing them of using trade secrets stolen from Tesla. The irony of this is that there was nothing worth stealing from autopilot. It was a critical time for Aurora, and the lawsuit was costing them $200k/month, so Aurora settled out of court, paying Tesla's legal fees and agreeing to monthly audits (which Tesla never followed up on, since the lawsuit was bullshit anyhow).
My opinion of Musk really went south after that. I'm not giving him the benefit of the doubt on anything, anymore.
Fortunately Aurora managed to escape that near death experience and has an autonomous driving dream team together, solid funding, and has partnerships with 2 of the top 3 biggest automakers in the world.
Robotaxis stand to challenge the economics of personal vehicle ownership and have the potential to dramatically reduce the impact our transportation system has on the environment, and that's what Musk was out to destroy.