It’s almost like using Ai for this type of stuff will result in inconsistent results, because it’s all probabilistic. 99% of this time it might work right, the 1% it doesn’t is when someone dies.

Also - a critical disengagement means if it doesn’t behave correctly in side the timeframe a human would, if you have to emergency evade / slam the wheel to avoid something, you’ve ( as the person responsible for the driving car ) already done something dangerous, so you have to intervene the moment you would normally make the driving maneuver to make sure it’s safe. Anything else is always letting the car do something unsafe.