Oh definitely, I've been convinced sensors distributed in the environment are the only way forward for FSD with current tech since about 2017. Do a test run with a dedicated road/lane for a while, gather data, improve the system and then gradually roll it out elsewhere.

It's clearer and clearer that self contained 'autopilot' units are going to keep failing in scenarios involving unpredictable people & situations. They don't have enough data and never will (without AGI, anyway). So we need to spoon feed them that data by tagging everything & everyone around them.