Yes, the Tesla would do that, at one point in Autopilot's history. Perhaps it still will, but for the past many months I have not had to disengage it in those types of scenarios, to the point that the car has reacted before I have, and this is with the previous generation of sensors. From a technical perspective Tesla has come quite close in practice in a three year old production vehicle to what Audi claims to be ready to ship. With the current generation of sensor package, I would not be surprised to see Tesla's vehicles achieve L3 in practice (not at a regulatory level) before the new A8 actually starts deliveries. My point being that Tesla's technology has taken quite a leap from where it was originally, even with the original sensor package. Treating what Tesla is shipping in software as a fixed point and saying "this would put Audi far ahead of competitors" (as the article does) misses what has allowed Tesla to make such rapid progress in the space: continuous iteration on the live platform based on data collected from their existing fleet across all conditions.