The ping-ponging is certainly a Gen1 problem. (My Gen1 does this.) Gen1 was essentially an off-the-shelf Mobileye unit, and the performance was, as expected, not good.

Gen2 autonomy stack is completely unrelated to Gen1, and from what I hear is a completely different level of reliability.

(also - this presentation covered yet another, unrelated, gen3 autonomy stack, which shares none of the hardware or models with the existing gen2 stack, either.)