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If you watch the video you linked, he admits he's not taking manual control because it's unsafe--it's because he's embarrassed. It's hard to tell from the video, but it seems like the choices he makes out of embarrassment are actually more risky than what the Tesla was going to do.

It makes sense. My own experience driving a non-Tesla car the speed limit nearly always, is that other drivers will try to pressure you to do dangerous stuff so they can get where they're going a few seconds faster. I sometimes give into that pressure, but the AI doesn't feel that pressure at all. So if you're paying attention and see the AI not giving into that pressure, the tendency is to take manual control so you can. But that's not safer--quite the opposite. That's an example of the AI driving better than the human.

On the opposite end of the social anxiety spectrum, there's a genre of pornography where people are having sex in the driver's seats of Teslas while the AI is driving. They certainly aren't intervening 3 times in 20 minutes, and so far I don't know of any of these people getting in car accidents.