Apparently they do at least intentionally disengage, often with little time to react. When they could instead start braking and alert the driver.

https://futurism.com/tesla-nhtsa-autopilot-report

I also don't trust the motives of a company that names something "Full Self Driving" knowing it's not fully self driving. Never mind their shenanigans around avoiding or disregarding regulations and reporting requirements.

That's how it is now, and (like most things safety-related) Tesla had to be dragged kicking and screaming into it. Just like the initial attention/distracted monitor only required your hand on the steering wheel once every fifteen minutes.

They also considered AEB-activation to mean that meant that FSD wasn't active, even if AEB only kicked in because of FSD's decisions.

Citation please.