Several pieces of the Autopilot software suite are included at no charge. The "FSD Capability" (pre-payment for a future delivery of full self-driving) is the $10K option you are thinking of.

Buyers of the FSD Capability package get some additional beta features such as "Navigate on Autopilot" which will do lane changes on freeways, but is otherwise significantly less than actual full self-driving as it would be understood by a layperson.

You’re not wrong about ‘full self driving’, but “Autopilot” - which is just lane steering and adaptive cruise - is standard on every car you can get from Tesla’s site (you might still be able to get a model 3 without it by calling sales, but I haven’t heard of that working as of recent).

All Teslas now have the 8 cameras and computer chip and Autopilot comes standard. it's 10k to enable the FSD via software.