Yes — but only in the same way you can use any driver-assistance feature while you are still the driver. It is not a “let the car do the Uber driving” situation. Uber’s current ADAS policy specifically names Tesla Autopilot/FSD as driver-assistance tech and says improper use includes distracted driving, sleeping, failing to keep at least one hand and normally both hands on the wheel, trying to defeat driver monitoring, or relying on ADAS to fully perform driving tasks. 

Tesla says the same thing from its side: its self-driving features do not make the car fully autonomous or replace you as the driver, and you must be ready to take over immediately. FSD (Supervised) requires active driver supervision and uses the cabin camera to monitor attentiveness; if you ignore prompts, it can disable the feature for the rest of the drive. 

One big practical distinction: basic Autosteer/Autopilot is mainly for controlled-access highways, and Tesla warns not to use Autosteer in places with pedestrians, bicyclists, construction zones, or other complex conditions. For typical city Uber driving, that means ordinary Autosteer is not the right tool. Tesla’s FSD (Supervised) is broader, but still supervised only. 

So the real answer is:

• Yes, supervised use: you can drive for Uber in a Tesla while using Autopilot/FSD as assistance.
• No, unsupervised use: you cannot treat it like a robotaxi or stop actively driving.
• For city rides: basic Autosteer is a bad fit; FSD (Supervised) is the closer match, but you still carry full responsibility.  

Also, NHTSA says vehicles sold to consumers today are not true fully autonomous vehicles that eliminate the need for a human driver. 

My blunt take: hands on, eyes on, brain on — yes. Hands off, checked out, “the Tesla is doing the shift for me” — no.