the best way to 'solve' self driving is just to build new cities entirely with new transportation infrastructure specifically built for self driving vehicles to be on roads, and in parking spots. not for 'human driven vehicles'.
just to make things simpler , and clear, the cars themselves should not even have steering wheels.
any vehicles that are outside of the city, can be driven onto a self driving wheeled platform kind of thing, and that platform ( a self driving cart ) will drive those vehicles around as needed .
that's actually SIMPLER. than 'solving' self driving in reality.
Musk's updates will not solve self driving . they will abdicate driving responsibilty, for every edge case in which it fails, which , ultimately, requires the driver to supervise the car , at least , while in complex city environments. which means, ultimately, you cannot have fully robot taxis.
if you cannot have robot taxis, you can call 'self driving' whatever you want. but it's not effectively 'self driving' for the purpose of mega profit silicon valley ponzi-nomics.
if you want mega profit, let alone, real world self driving solved. just start building the entire infrastructure from scratch to ensure the system as a whole works.
right now, you're trying to solve 'self driving' for the individual vehicle as if it will be as 'smart' as a human by mimicing human driving styles with complex hardware and software.
not gonna happen. at best you get mimicry of the highest order.
still doesn't work.
cannot mimic persistent capacity to deal with novel situation.
'self driving' is effectively non-deliverable, until at least the next AI revolution in hardware, which is still 15-20 years away from being commercialized as a suite of different asic chips are built out and then taught to communicate with one another by some hyper sophisticated universal buss system.