5 years ago I agreed that you'd need the other sensors. ML vision has improved so quickly now I'm really not sure you do. From what I've seen the system available to consumers also performs well IRL.
I’ve been using Tesla FSD since the original beta rollout. Collision avoidance has never been a real problem. Phantom braking has gotten a lot better, though still not 100.0% fixed.
Most of the problems I have now are things like lane selection or turning into the wrong parking lot, which seem solvable in software given enough time, and the Robotaxi project should ramp up the urgency on that front
