Okay let me rephrase a little.. I've had a Tesla since day 1 of auto pilot (so the gen 1 hardware). Back when it first came out it was good but not great. They've made a ton of tweaks since then, almost two years ago now including the gen 2 hardware with a full suite of cameras which will eventually bypass my gen 1 system. Anyway when it first came out a lot of people were posting videos doing stupid things like riding in the back when the system wasn't mature enough yet to really support that.
So now, almost two years later, if you're on a highway with clear markings and good weather, though the car is programmed to nag you every ~5 minutes no matter what to basically just nudge the wheel, the car is better then a human at driving. Theoretically if Audi does get ready to release this they could simply remove the nags and have a much better system for the use case Audi is describing (Tesla supports up to 90mph). Again, for highway driving the nags are basically there for Tesla to cover their you know what. Off highway you can use it but it's more of a gimmick still as you have to very closely babysit it on most roads.
Hope that makes things more clear.
[Quick Edit: One other thing the nags are good for is just in case there is a scenario that they haven't accounted for they can say that they told the driver to put their hands on the wheel and they ignored the nag. Tesla has two years of an entire fleet of cars using and proving the system. Audi will be releasing it theoretically w/o this in place and telling drivers no hands needed right away.. I'd be skeptical on that vs what Tesla has already been proving]
