I'm gonna take issue with this. A properly engineered FSD system will refuse to proceed into a dangerous situation where a human driver will often push their luck. Would a full self driving car just... decline to drive you somewhere if the conditions were unsafe? Would this be acceptable to customers? Similar story for driving over the speed limit.
That's how people get killed on roads. Early experience with self driving taxis seems to suggest that journeys are uneventful and passengers stop paying attention and leave the driving to the car. So, yes, they quickly accept that the car is driving the car just fine.