The only time I had to take over was for road debris on the highway. Off the highway it’s very good about avoiding it. My guess is Tesla has not been focusing on this issue as it's not needed for robotaxi for phase one.
Later, V12, which is the end-to-end neural network, worked on highways as well, but they use different stacks behind the scenes.
> Consider a turkey that is fed every day. Every single feeding will firm up the bird's belief that it is the general rule of life to be fed every day by friendly members of the human race "looking out for its best interests," as a politician would say. On the afternoon of the Wednesday before Thanksgiving, something unexpected will happen to the turkey. It will incur a revision of belief.
The Black Swan: The Impact of the Highly Improbable, Nassim Nicholas Taleb, page 40
A human would rather be involved in a crash because of its own doing, rather than because they let the machine take control and put trust in it.