You would be 100% correct if Tesla was attempting autonomous driving in the traditional way with mapping and specific route planning. But Tesla is not doing that at all, they actually have decreased the vehicles confidence in basic map data over the last few updates because they want the vehicle to process what it sees, not what it expects. This is why when they addressed Chuck Cook’s left turn it vastly improved unprotected turns for everyone, not just that one single instance. For that same reason, a closed loop isn’t a great way to measure the vehicle’s performance because they’re not training it for any specific routes. It makes their progress look much slower but in the end it will be able to adapt to changing road conditions, construction, new roads, etc. without needing to be pre-mapped. That said, I don’t think we’ll be seeing level 5 without different camera placement, I’ll be curious to see if HW4 makes that change.