> So, basically, I need to somehow predict that FSD will do the wrong thing and react myself, _before_ the worst time, because the worst time is when it's already too late.

Don't confuse prediction and anticipation. Prediction requires that you know what's going to happen. Anticipation is getting ready for something that might happen. Anticipation is a normal part of defensive driving every day, not prediction.

Let's go back to defensive driving 101: defensive driving allows mistakes to be made. It allows bad things to occur and still recover from them safely. Bad things happen because of mistakes are made by humans in the car, humans outside of the car and also by the computer in the car. The change here is that you the computer is being given much more latitude to make mistakes. It does NOT grant the computer the ability to remove defensive margins from driving.

If you drive (regardless of FSD) with no defensive driving margins, you immediately enter "too late" territory whenever a mistake is made.