Comment by arkmm

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.)