Did you miss the part where the autopilot steered straight toward a clearly visible cyclist?
If the autopilot is so unreliable that it requires lightning-quick reflexes to override, it's going to lead to a lot of accidents from people who don't happen to be paying perfect attention at the time. I know the whole story is that drivers are supposed to be 100% engaged, but realistically that's just not going to happen when you literally market something as "full self-driving"