After seeing Musk’s “damn the torpedoes, full speed ahead” approach to self-driving (and management at Tesla), Musk is the last person I want involved in a human trial.
I think the main issue is that Tesla is seen to be 'fire fighting', rather than working according to a predetermined plan.
And really, "FSD" is too specific, even the lane keeping autopilot the car comes with by default has the same problems. I love my model 3 but let's call the spade a spade: advertising the car as having "full self driving" at this point in time is nothing short of fraudulent.