I usually get about 80-90Mbit now. I think at the very beginning I was getting 120-140Mbit. I can't really tell the difference in speed for what I do but I do know that latency is much better now.
I don't think we are quite at that point yet but I'm having a lot of drives with no interventions. The most common issues I have now is the speed being either too slow or too fast and selecting the wrong lane. When it does pick the wrong lane it will just go that way and try to figure it out...
I'm running v12.5.2 of FSD right now. If you're not wearing sunglasses you don't have to touch the wheel anymore which is nice. The next version coming soon will let you wear sunglasses.