Also have your same concerns / complaints with lane change hesitation on the latest FSD in a Juniper Model Y; the car puts the blinker on and then acts super-duper nervous, almost as if it were driving for the first time.

That said, I only notice this behavior in the "Standard" FSD profile. When I bump it up to "Hurry" or "Mad Max" the confidence is 100x. Not sure why, exactly, but this may help you. The only downside is that "Hurry" loves to speed and "Mad Max" even more so.