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How did FSD Teslas do at the traffic signals? Or Nuro?

Here's an example of it doing well:

The Tesla example is a single oncoming car, clear right of way, and ample time in a simple 4-way intersection.

The Waymo video has over a dozen cars, at least 6 pedestrians crossing streets (many more on the sidewalks), and is a 5-way intersection.

These are cherry picked examples. Either advertising or propaganda.

That's a really good question.