Ends-justifies-the-means reasoning has also lead to many of the innovative wonders we're all now relying on every day. While the customer test drivers aren't "trained", there was some caution in the approach.
Customers had to opt-in to request beta-testing access, they had to pass a Safety Score system that grades their driving safety (same as car insurance apps, roughly) for a long period (in some cases many months!), etc. After going through those hoops, when they finally get the software for it, they're required to consent again. IIRC the text there includes things like: You are in control at all times, must keep hands on the wheel and eyes on the road and intervene for safety, you are liable for anything that happens, this software can do the worst possible thing at the worst possible time, etc. They also monitor for your hands on the wheel (via torque sensing) and use an in-cabin camera to monitor whether you're watching the road or looking at a cellphone, etc. These measures can be defeated with effort by unsafe idiots, but that's no different than the risks such unsafe idiots present when driving any car.
With all of that in place, they've scaled up over a couple of years to 160K customer test pilots. Accidents happen, but there's no evidence the rate of them is anything to worry about. If anything, what evidence there is seems to point in the direction of FSDb test drivers being safer than average. However, they're supposedly removing the Safety Score part of the process Very Soon (likely in the next few weeks), but the rest of the warnings and mitigations should remain.
--- meta stuff:
There's a ton of money and a ton of ego pushing huge agendas in every direction when it comes to anything Elon-related, Tesla included, especially since the Twitter saga began and he started really going off the rails more. Almost anything you read on related topics, regardless of which "side" it's on, you have to question the motive to even begin to understand the underlying objective truth. I follow Tesla news a lot, and I'd say ~90% of all random internet news articles on these subjects (positive and negative) are mostly utter bullshit clickbait when they're not outright fraud, and they're designed to influence stock prices and/or buyer behaviors more than they provide useful information. When big money and big egos are in a war over something, objective truth on the Internet is a casualty.
If you ignore all that line noise and look at the objective reality of the engineering parts though: it's pretty amazing beta software with a lot of future potential, and the testing has gone pretty smoothly in terms of safety. It could be many years before you'd let it chaffeur some elderly person on a pharmacy run as a robotaxi, but IMHO it's still a better bet than most of its competitors in the long game of fully-generalized self driving on the human-centric road networks we have today.
As for Elon himself: clearly some of his behavior and viewpoints lately are both pretty objectively terrible. At least you can see it? How many executives from companies that built things we all relied on from the past few decades have really been any better? They've mostly been better at hiding it, while Elon puts it on full display. The world is what it is.