Not sure if it's the case with the full self driving stuff since I haven't bought it for mine yet but at least on the interstate autopilot I've used they have settings you can change on how aggressive the Tesla will change lanes. I would think they would have similar settings for this but no clue.
With full self driving it's not a setting but a reflection of how well the AI understands the situation. The goal is to make it as confident as possible while being able to execute in a safe manor. The problem in the video is mostly it going "ok! I can handle this situation!" only to moments later give up.
Will be weird if in the long term they have settings like for aggression in fsd. At that point Tesla would be liable for crashes so they'd probably want all cars doing everything the exact same way.