This doesn't say what mode the driver was using, FSD could arguably want to understand this, but if he was just using "Autopilot" (aka keeps your lane + adaptiv

This doesn't say what mode the driver was using, FSD could arguably want to understand this, but if he was just using "Autopilot" (aka keeps your lane + adaptive cruise control) with a steering wheel weight to disable the "are you there?" checks, I wouldn't expect that to need or understand anything about emergency vehicles.