A few different things. IMO we don't really need full self driving, at least not in the next 10 - 15 years. The anxiety that it induces in city streets, pulling out at intersections, etc isn't even worth it. With Tesla your hand is already on the wheel, you're hovering the brake, just drive the car. It's really dumb when you think about it.

All we really need is better adaptive cruise control which is what Autopilot and Open pilot is. IMO it works flawlessly, takes the stress out of driving. It's really a solved problem at this point. I'd say 3/4 of all the miles I've driven on my Rav4 have been on Open Pilot.