[GrimmLite]

I think Tesla ultimately got cleared because the driver activated Autosteer (without FSD Beta) within city limits, and the car manual, delivery sheet, & several warnings on the UI they entered into evidence explicitly said not to do this.

So the question is whether those warnings were adequate. Other vendors such as Toyota tell you the same thing in the manual, but have a “dumb lock” on Auto Lane Keep so that it refuses to activate until you’re going over the city speed limit of 35mph. Expectation for a tech car should maybe be different- I would be appalled if GM, for example, just let customers activate SuperCruise on unmapped highways.

From an engineering POV your customers should have minimal (ideally zero) ability to unknowingly put themselves in danger, barring inherently bad driving that has nothing to do with the car itself.