This article shows what many people suspected at the time, that Tesla’s 2016 “Paint it Black” demo was a fraud. Even though the text in the video said “the driver is only there for legal purposes,” it turns out that the route was 3d mapped in advance, and that the car had an unreported collision with a roadside barrier in a previous attempt.
Here is a good timeline (complete with Elon's tweets) for Tesla's self driving capabilities.
He has been lying about it for 5 years now and has been stringing on Tesla customers with statements like, "It's almost there!" and "Next version will blow your mind!" etc.