What are "these conditions" exactly? Tesla has 1.3 billion miles of data (impossible to collect without crowdsourcing far beyond the number of Tesla employees). There's probably thousands instances of something very similar to the conditions seen, but something made this a corner case/failure. Or, it's just not possible with the current tech.

You can't opt out of data collection when self driving is enabled. Tesla is aware of every disengagement, with the sensor data categorized and added to their tests, if it's found interesting. They also include synthetic data to manufacture scenarios. They are testing everything they can, and there's a chance this will be added to their tests.

> where innocent lives are at risk

I think a separate permit should be required for self driving, with that permit easily revoked for attention violations. Luckily, in the eyes of the law, the self driving doesn't exist. Driver's still goes to prison if they hit someone.