The Tesla lead engineer’s opinion is just that, an opinion, an opinion no better than yours or mine. As the old saying goes, “Beauty is in the eye (or in this case, ear) or the beholder.
You can also cancel an FSD lane change by pressing the corresponding turn signal. If FSD tries a left hand lane change, just press the left turn signal and the truck will remain in the lane.
I drive 20K a year. Supercharger saves me $1,400 a year. I save $1,200 on FSD. Premium connectivity, $100 a year. $2,700 for five years is $13,500. Plus the interior upgrade, cyber wheels, mobile charger plus some other freebies. It was well worth the $10K premium.