I was doing FSD on a rural new mexico road going 80mph with a pickup hauling a boat behind me, and tailing pretty close. It phantom broke and I had to slam on the accelerator to not get pancaked. One of the scariest moments of my life for sure, glad I was paying attention.
Yeah this is what I mean by "doing weird stuff" on freeways the phantom breaking is pretty crazy, but it's quite manageable once you expect it/experienced it a few times. Usually like once a week/two-weeks on average usage.
The scarier one is in construction zones where the lanes have been moved. During dry it's pretty easy to tell apart, but combine night and wet, it starts doing weird stuff fast. I don't think Lidar would fix this problem.
I really wish I could get the FSD money back.