Full autonomy seems to have a lot in common with nuclear fusion, in that it is just around the corner and will be here any day now **
Tesla's effort with full self-driving is impressive, but not quite there yet. I follow the progress pretty closely because it interests me and I don't have much better to occupy me. 
Musk is a long way from being perfect but I will give him credit for one thing; and that is if he sees a substantial investment of time and money as a dead end or the realization of a better way, he changes course. We are currently seeing that with the FSD effort at Tesla. The current available version is 11.4.7. It is camera based, but largely consists of a very capable and power hungry computer in each car, that mostly uses a bunch of If, Then, Else code to drive the car. It is pretty impressive in 90%+ of situations but who wants to be in the car on the other 5 or 8% of the time when it isn't so impressive. Ver. 12 is out for a very limited number of drivers and it is scrapping all the code used in Ver 11.x.x and taking a completely different approach. 
All Tesla cars are connected to a huge computer and database that is fed by individual cars on the road. Very simply, ver 11 used to see a stop sign and go through the If, Then, Else statements that were programed in to the car and decide that it should stop. Ver 12 has no such stack for how to react at a stop sign. Instead, it uses machine learning to see how the entire fleet has reacted in the past, when it saw a stop sign and it reasoned that the prudent thing to do is stop at a stop sign and proceed when it is clear to go. I think it is a better approach but then again I'm just an old dirt farmer . . . The next six months will likely decide if the machine learning approach is the correct one and if it isn't, Musk will abandon it and try something else. 
My car has all the hardware and software to do the FSD and it only needs activation to come alive. Activation costs $200/ month or a one time payment of $12,000 for a lifetime subscription. I haven't subscribed yet, so that might give you a clue on my feelings on the current situation. I need to see them resolve the phantom braking issue when I am using cruise control on my car before I do anything.