How long ago was it that you tried FSD? My car (HW4) had a lot difficulty like this in the early days of FSD 11 but over the past thirty months it's gone from "good at highway driving, not very good at navigating city streets and it might try to kill me" to "nearly perfect at everything". Over the past six months, most of my interventions have been to avoid it automatically parking in handicap spaces and minor navigation issues when I know there's a quicker/better route. Since FSD 14.2, I've done 23k miles with 94% of that on Full Self Driving. Longest streak was 930 miles where it took me on a road trip out of state and then back home and I never touched the wheel; it handled parking at chargers and diners, navigating strange destinations (small towns, back roads), avoiding two deer that I almost certainly would have hit, and managed to keep 85mph while navigating traffic during rush-hour in Chicago. I've never owned a product, much less a vehicle, that got so much better over time.