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Is his point that the G tolerance of a pilot is the principle limitation on what maneuvers can be performed by a jet?

Its pretty clear that this reading of the headline is incorrect: "there currently exist drones which can take on the F-35 in aerial combat". I believe that Musk just meant "the future of aerial combat will be unmanned", but it needed to be phrased as a maximally hot take for clicks.[0]

[0] https://twitter.com/elonmusk/status/1233478599170195457

Well he said in references to drones "The F-35 would have no chance against it,"

Perhaps it would be more accurate to say the Musk thinks the F-35 is no match for future drones?

Also, I think besides G tolerance there is the issue that a pilot with a pressurized air system, controls, glass cockpit, ejector seat etc. adds a lot of weight and drag.