In regarding the Elon quote, every Tesla has a number of cameras. Tesla the company probably has more recorded video of the roads than anybody else in the world, by a large margin.

They do, but for what ever reason they are not(or don't appear to be) using it to make machine readable maps.

From what I can work out, they are using the recorded data to create models that can identify road types in realtime, vaguely zero shot. I think musk has an aversion to "HD" maps, which explains a lot.

HD maps would solve a large number of issues for them (its how lyft and wayve do it, well partly. )

The point in TFA is that the roads captured by Tesla are likely correlated to income.