It is a great feature, but, ADAS is by definition not self-driving, no matter how capable it is at manipulating the controls. The lowest level of self driving is level 3, where the human is responsible for supervision less than 100% of the time but greater than 0% of the time. Tesla FSD is level 2 and requires the human driver to supervise operations of the ADAS system 100% of the time.

https://www.faistgroup.com/site/assets/files/1657/j3016-leve...

While FSD's manipulation of controls is impressive -- it is missing a very critical component that is required for self driving: the ability to guarantee whether or not it can make a safe decision. Tesla's FSD still offloads this task to the human driver. Once they can do this more than zero percent of the time, they will have achieved level 3.