Is Tesla migrating from programming logic to neural net for self-driving?

Tesla firmware hacker and researcher who goes by the name of ‘green’ recently revealed that Tesla is migrating towards neural nets (NNs) for Full Self-Driving (FSD) decision making. Currently, Tesla vehicles are making decisions such as ‘right of way’ with programming logic built in C++.

https://insideevs.com/news/466239/tesla-migrating-to-neural-net-self-driving-decisions/