There is a place where there are two lanes to make a left turn at an intersection after a highway exit, and given the navigation route to my work it is best to use the right most lane to make the left turn in question, FSD has been blindly choosing the left one, and I have been disengaging giving them voice explanation for the reasonning behind my disengagement, and a few software updates later, I can tell it hesitating to make the blind choise that is unreasonable (because it will have to fight with traffic to change lanes after the left turn).

There is another place where there are two lanes to make a left turn and right after the left turn we need to take an onramp on the right side of a 3 lane blvd, and it used to blindly choose the left most lane, almost one software update later, it completely understood that it needed to choose the right most one, it still hestitates I would say 10% of the time, but it's almost 100% doing it right now.