Anecdotally I have been using one of the newer versions (12.3.6) and it seems to have improved significantly, however still does "strange" things like unnecessary lane changes or slowing down unnaturally to speed limits (which no driver in LA does). Autopark works well for the most part but takes twice as long as if I were just park the vehicle myself.

Elon claims the next version (12.4 / 12.5) will be milestone improvements in terms of miles per disengagement, but only time will tell.