A state court in Landgericht ruled that everyone who is participating in traffic is aware of being seen and recorded [1], so apparently it's different from being near a parked Tesla in public in which you might be recorded without your knowledge.
There have been similar decisions by other courts, apparently.
However, the law is probably a bit tricky, in that it might be legal to use the recorded video as evidence in court (or perhaps insurance purposes?), but probably not for other purposes such as posting it on Youtube.
Last time I checked, in Spain (and probably other EU countries) similar reasoning applied for recording videos in public places, e.g. while you're walking on the street: I think you can record other people in public without their consent as part of your interactions with them, as long as you safeguard the recorded video and not publish it (and probably only for as long as it might be needed). You could use these recordings as evidence in court, but probably not for almost any other purpose.
You might, however, be prone to being punched in the face, as many people find that to be quite aggressive behavior. Police may even arrest you and confiscate your equipment as they're not all necessarily aware of all the intricacies of data protection laws.
[1] According to a reddit comment: https://old.reddit.com/r/teslamotors/comments/d2uzkd/sentry_...