I'm speaking from my knowledge of the specific technologies they are using - it's fairly close to SOTA. I'm not aware of an apples-to-apples comparison of Tesla's autopilot with a similar system from the competition. Most competitors are using LIDARs and/or running their autonomous vehicles in limited geographical regions. IMO, the state space and action space is significantly more constrained in those cases.

Having the ability to use LIDAR and not just cameras is less constrained, not more.