Elon Musk has promised self-driving Teslas for years. Experts say it's not even close.

Elon Musk has made developing autonomous driving technology one of Tesla's fundamental goals. "Today it's financially insane to buy anything other than a Tesla," Musk said at an event touting the carmaker's autonomous-vehicle development in 2019. That revolutionary software update never came, and by 2022 the goalpost for bringing self-driving cars to the masses had shifted to 2023. Full Self-Driving is far from actually being self-driving, some sayDespite its branding, Tesla's Full Self-Driving Beta currently requires total driver supervision, just like cruise control or smarter features like Autopilot. Likewise, McGehee says self-driving cars need a combination of overlapping sensors — whether that's cameras, radar, lidar, or ultrasonic sensors — to move through the world safely.