> Elon sees FSD happening between 2020 and 12020.

Elon has been quoted, multiple times:

"FSD will be available, this year, 2016".

then:

"FSD will be available, this year, 2018".

and the latest:

"You will be able to FSD, coast to coast, completely hands-free, by the end of this year [2020]".

Turning it into him just "visioneering" is an entirely overly-complimentary viewpoint of what he has said and done.