Navigate-on-Autopilot, and some other features which are part of the FSD package that is already publicly available, absolutely will stop at stop signs and lights (although the process is often annoying and buggy), change lanes (sometimes into a trailer if it doesn’t see it quite right), and make turns (takes exits/ramps), although these are things that can be individually toggled on and off. They’re there, but the implementation is kinda buggy shitware.