How exactly do Tesla and their FSD developers gather data on malfunctions, problems, dangerous behavior, unsafe driving, etc...?

With all the complaints and issues with FSD, it got me wondering how Tesla finds out about these issues in order to correct them.

I'm sure it's a combination of sources but does anyone know exactly how, what sources, who sees the data, etc?

Do they have people reading user complaints in forums like Reddit and other forums?

Do they rely disengagement reports users can upload right after they disengage FSD while driving? I know that a lot of people here send reports when they disengage because of following too closely. I've sent plenty myself just over the last few days. I can't imagine they have teams of people who do nothing other than sort through these uploads. I figure they use AI to parse them but what is their actual process?

I know elon says they have 9 billion miles worth of data but how do they acquire the data and how much of that is actual reports directly from users about problems and issues they have encountered?

In a thread posted here just a few hours ago, someone's brand new Juniper in FSD turned directly into a barrier and crashed into it. Tesla told him there is no data. This is obviously not true and it led me to wonder whether Tesla actually cares about fixing issues like this one. If I was in charge I would go over every bit of data from that car, review the video a million times, and figure out what FSD's reasoning was that led it to decide that driving itself into a barrier was the best choice. Tesla doesn't seem interested though.

So how exactly does Tesla hear about user complaints and are they actually responsive to them or do they just go about doing their own thing without really caring too much when there are widespread complaints about certain things FSD is doing that are unsafe?