Maybe the car should not have this dangerous feature in the first place? Or maybe train drivers thoroughly and frequently for when this situation arises it becomes less dangerous.

It seems to me FSD for Tesla is not ready to go into Prod as it is now.

How is a car supposed to pre-empt when it is in a situation that is to challenging for it to navigate?

By anticipating further ahead. If it finds itself into a situation that it can't get itself out of, it means it should have made more defensive choices earlier or relinquish control earlier. And if it doesn't have either the reasoning capacity or the spatial awareness data to do that, it is not fit for general usage and should be pulled.