(Admittedly the reasons why the Subaru impressed me was more for its programming rather than absolute precision. I liked how smoothly it transitioned between following and open road ahead. Much less jerky.)
I think it was on the way out by maybe 2022
Short term: Global chip shortage made supply tight, and it was either remove it and rush out with the no radar code branch, or stop shipping cars.
Long term I think it's a fine decision, but short term it's kind of a big thing to rush.
That said, i want a cool fast BEV that makes highway driving easier. Right now, Tesla is the only option. A few others are close. If someone else beats Tesla to FSD with another system, I will be happy to go that way on my next car. Working FSD is worth a lot to me.