I tried FSD on the $200/month plan and dropped it: It makes the car unsafe. To command a lane change you hold down the turn signal stalk. If you fail to hold it down long enough the car suddenly swerves back to the lane it was in. This is (to say the least) disconcerting at 80 mph.
FSD can also suddenly decide to do weird things that are difficult to correct even when you're paying close attention. It's unnerving. Ordinary autosteer (which is included with every Tesla at no extra charge) works well enough for me and it fails in more predictable ways; it's easy for me to build a mental model of its limitations. I'll stick with that.