Depends. In principle you can log exactly what data the camera sends to the decision making unit. And you could replay that data.

The camera itself might not be deterministic enough to reproduce the same data with the same beetle, but replaying the log should work.

(Keep the log in a 'black box' on the car, and perhaps only keep the last x hours of data, if necessary.)

I think Waymo already does something like these kinds of replays.