I've used FSD in my partner…
I've used FSD in my partner's '21 Model Y quite a bit this year and have been consistently shocked. It does much more than I had thought was possible. Driving both in congested city situations, stopping for pedestrians waiting at uncontrolled intersections, and easily handles highways. However, definitely not a perfect system. It does require you to be watching the road, which it does remind you to do quite frequently if you're not doing so. Overall I have to say it definitely makes the bad parts about driving less of a chore.