I have a Tesla with HW3 and FSD is an absolute dangerous joke. It nearly pulled me into a curb on its first attempt to enter a freeway.
Also, I think it keeps getting overlooked that freeways are designed from the ground up as a exclusive use of motorized vehicles. FSD performs OK there. But, taxi services are everywhere in cities around the clock in all sorts of weather. And I can't imagine trusting FSD for that use case.
Did you have the FSD they gave away for free for a few weeks last year? Because I felt like I was going crazy with neighbors saying it was great while I couldn't get it to stop doing dangerous stuff. Turns out they had HW4. I think the new stack or whatever is just not ok on hw3.
I got 3 months free when I bought the car new, canceled and reupped a few times, but have had the subscription since they lowered it to 99$. The HW3 definitely had more hitches (sudden breaking for roadside debris, weird adjustments turning into parking lots), but I got used to it. For the "less maintained" road (piles of brush/garbage/discards) on my commute, I kept my foot over the accelerator.
There were definitely regressions with my Model 3, though the issues and improvements were at the margin.
The HW4 I'm in now doesn't exhibit those issues and does Park to Park to and from, most days without any intervention.
Did you try recalibrating your cameras? After a windshield replacement my HW3 FSD camera calibration was off and it was similarly terrible like you were describing (going way too close to curbs), but then I recalibrated on a straight highway stretch and since then it's been amazing. Over the past few thousand miles, I only take over for parking and getting out of parking lots at this point. (Also the occasional intervention if I want to take a different route that I think might be faster.)
Counterpoint: I had a Tesla with HW3 and FSD is absolutely a wonder and a delight (I now have a Tesla with HW4, and it's a noticeable improvement on my M3). It drives me through traffic on my commute everyday, in all kinds of weather, and is a better driver than me (say) 95% of the time.
As I frequently mention in these "sanity response" posts, it's not perfect. Sun in the camera will sometimes cause it to bail. Maybe once a day, I take over because I'm not sure of its decisions. I share the skepticism that the same FSD I'm using can be fully autonomous, but with deep, current map data like Waymo has, maybe they can pull it off.