Elon Musk is on record saying that the Full Self-Driving Beta feature will be an option to buy for every Tesla owner in the US or Canada later this year. Currently, not only do North American Tesla drivers need to pay the US$12,000 for the FSD software, but they also have to have a 99/100 Safety Score to qualify.
https://www.notebookcheck.net/Tesla-s-Full-Self-Driving-Beta-will-become-available-to-all-paying-Americans-and-Canadians.613510.0.html