Honestly, there should be laws against full self driving modes unless they can be proven to be good enough to not require driver intervention at all, and the manufacturer can be legally considered as the driver in case of an incident.

Requiring a driver to be alert and attentive to the road while not doing anything to operate the car runs contrary to human psychology. People cannot be expected to maintain focus on the road for extended periods while the car drives itself.

I don’t know exactly where the line should be drawn between basic cruise control and full self driving, but either the driver should be kept actively involved in driving or the car manufacturer should be held liable for whatever the car does.