That is not quite correct. There's a very interesting video from Mobileye demonstrating a camera-only (NO LIDAR) vehicle merging "assertively" into traffic.
The video is from May 2018, citing implementation with major automakers in July (no idea if that happened, if it's providing the buyers with ADAS or is just helping data collection)(relevant section starts at 30 min in)
And, yes, I've followed the development and the sensor approach with keen interest. And I really hope all the claims eventually come true. It's a fun ride (mostly) to see features delivered. But the track record of announcement is a desaster and once you bump your car into a wall because the most recent update broke front ultrasonics, the fun stops (happened about a year ago, to very few users, me among them).
Hence, AP/FSD announcements by Tesla are like electric car announcements by German automakers - looks good in PowerPoint, I'll believe it when it's delivered.