I see median human drivers all of the time, and I see median FSD all of the time. I don’t need to drive a billion miles to have a valid opinion that one is better than the other.

I’m sure things are very different out around the edges, as you note, but the majority of the time humans in cars kill people it isn’t because they were in an edge case - quite the opposite. They were just driving home from the bar like they do every night.