My anecdote: I’m a FSD beta user. It seems like it has become much better lately in city driving, but somewhat worse in highway driving. I bet that both have to do with changes to “lane topology” detection, which appear in the release notes. On the highway, the car sometimes perceives a change in the lanes of the highway, for example an exit lane splitting off. This would be fine and correct, except that it can now spoil an in-progress maneuver. Previously, maneuvers around exiting the highway seemed more stable. On the other hand, the latest versions seem to have an impressively fluid understanding of the lanes around intersections, where markings aren’t necessarily visible until you are up close.

In my experience, it looks like Tesla’s recent concentration on surface roads has come with some neglect of highway driving.