This isn't the standard autopilot but the "full self driving" option that is currently in a limited beta (around 1000 users that have gone through extra approval, not just 100% random owners)

iirc the car does all the driving but you have to have a hand "on the wheel" so they don't technically have to legally classify it as a self driving car or something.

I'm guessing if he is videoing it and hovering over the wheel that much this has happened before and he is nervously expecting it?

Tesla has caused a lot of confusion by calling this system "full self driving", but in reality, this system is an SAE level 2 driver assistance system where the human is required to be in charge of driving at all times.

https://www.sae.org/binaries/content/gallery/cm/articles/pre...

Just the car. The guy can override by taking hold of the wheel and overriding what the car wants.

In the video there is a steering wheel symbol near the speed that is highlighted in blue. That indicates autopilot is engaged, when the driver turns the wheel to correct the mistake the symbol turns gray indicated autopilot disengaged.

The guy in the video is stress testing the system by repeatedly driving next to the pillars which he knows are handled poorly (previous versions of FSD would actually drive right into them). So he is being extra cautious with his hands on the wheel.