I've been watching the Whole Mars Catalog channel on Youtube for a while ( https://www.youtube.com/@WholeMars/videos ), he's been trying out FSD beta versions for some time now and posting the unedited drive videos, and recently I've seen the results he's getting with 12.3.3 are substantially better than v11 from last year. I do think it's at the threshold of robotaxi capability from what I've seen there, very little if any intervention for long drives through the city dealing with construction, stopped delivery vehicles, jaywalkers, etc.