Saying it’s never going to get better is ridiculous and demonstrably wrong. It has improved in leaps and bounds over generations. It doesn’t need LiDAR.
The biggest thing you’re missing if that with FSD **the driver is still supposed to be paying attention at all times, ready to take over like a driving instructor does when a learner is doing something dangerous. Just because it’s in FSD Supervised mode it slant mean you should just sit back and watch it drive you off the road into a lake.