Tesla had every opportunity to do the safe thing and limit Autopilot to only highways, but they want the hype of a product that "works anywhere" and don't want to be seen as offering a "limited" product like their competitors. Then they are surprised their users misuse it and blame it all on the driver. Tesla wants to have their cake and eat it too.
You know what else prevents misuse? Implementing safeguards for your safety critical product. It took multiple NHTSA probes for Tesla to implement obvious driver monitoring improvements to Autopilot/FSD. There's a reason Tesla is always in hot water: they simply lack the safety culture to do the right thing proactively.