I work in AV eng/research, and reading the details of the Uber crash was utterly shocking to me in terms of the corners cut. I can get reflexively frustrated at the slowing of progress and pushing changes induced by our safety constraints and testing, but I've always been pretty happy with the choices we've made. Uber made multiple obscenely negligent choices that I don't think are remotely defensible. There are plenty of hacky heuristics in the industry, but it's pretty central to industry practice to avoid hacks that make you _less_ safe.