Update 2024.32.30 (FSD 12.5.6) - Release Notes

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This seems to include End-to-End on Highway for all models

Ugh. Took a quick look at this new [post](https://youtu.be/gdte6-nKnQw?si=QGrFDdEQ3P5AjrSB&t=938) and it would appear that w/ the new speed profile set to Hurry (it's cool that it shows at the top now) that the max speed should be 85MPH (also shown at the top) with his offset setting, yet it merges onto an empty highway, immediately moves to the far left lane, and parks itself at 69MPH. Then proceeds to get passed on the right. I hope we haven't entirely lost the ability to force a higher highway cruising speed!

The big problem is they need to remove its lust for camping in the passing lane. Passing lane is for passing.

I agree, but that's a second issue aside from speed control. On that topic though, my car has suddenly started moving out of the left lane MUCH more often since getting 12.5.4.1 last week. Prior versions would only get out of the left lane once a car approached behind me and got much closer than I would want it to. Now it's eager to move over if any car is even remotely approaching from behind and still pretty far back. Should it still get out of the left lane in the absence of traffic? Definitely. But it's a huge improvement as its moving over before the approaching driver has the chance to get annoyed.

Is this for HW3 as well?

Yeah, the speed choice for end to end on city driving drives me insane. Might switch off advanced and sit on 12.4 to let others test it first. (edit: by speed choice, I do set-speed but it consistently drives 3-10 mph below the set speed, I do not use auto speed)

This is a big enough update that I'll wait to see how it goes for others before updating my car. I'm planning on going on a long road trip soon and don't want to have it working in a more annoying way than basic autopilot. I know that I could simply switch to basic autopilot if it's bad enough, but my current version of FSD is performing reasonably well on highways.

That’s what you get for training on human data 🙈

The car going below the max speed is already an issue in the current version, so I don’t see yet that this is anything new You can press the accelerator to increase the speed. Not ideal obviously it does help

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The last couple of versions are driving (pun not intended) me crazy. Constant “Changing lanes to remain on route” on a six-lane divided highway. I’ve gotten annoyed enough to go back to basic autopilot but the “move the steering wheel” nags are similarly annoying. Does anyone know if FSD will behave better if I don’t give it a route to follow?

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Source? There is only one datapoint so far at https://www.teslafi.com/firmware.php and it is HW4, but that’s hardly enough to confirm no HW3. The other recent builds have gone to both HW4 and HW3.

The difference is that the previous version of FSD still uses the C++ code on highways, where you can explicitly set your speed limit and the car will stick to it. That's the version I currently have on my car and it works fine. Upgrading to this new version of FSD would be a downgrade as all I want when cruising hundreds of miles on the highway is to maintain whatever speed I want except slowing down for construction or towns where the speed limit is reduced. And I definitely don't want to be in the left lane for no reason, which usually isn't a problem on the highway with the old C++ code. I'm looking forward to full-stack neural network on the highway, but only once it's at least as good as the old C++ code.

All you can do is wait to test it, but I would guess not since “following route” is a map data issue. There are several spots on my commute where it thinks the highway is splitting (actually just a carpool lane) or where construction has it confused.

This is the first version of End-to-End highway for all models. Up until now it was cybertruck only. So you were still on V11 FSD.

Potential Tesla buyer, so have been periodically lurking around these subreddits. What does end to end mean?

Which is dumb 'cause EAP will intentionally move out of the passing lane.

I set my speed on the current (prior) version and it rarely sticks to it whether on highway or city. You’re also basing your impression on a single video. With a YouTuber giving overall positive impressions Is the minimal lane change option still there? And I’m assuming you can still hit the turn signal to go to a different lane

End to end is a term used to describe how the car makes decisions when driving. Specifically, it describes that the model or engine driving the car is built on neural networks, with each step in the decision process being a neural network, start to end, hence end to end. This differs from legacy autopilot and even legacy FSD v11 where the image and video recognition might have been a neural network, but the FSD computer used rigid or iterative programming to make decisions. It would recognize that the upcoming intersection was a stop sign but every intersection would always be handled the same “if X then Y”, I.e. hardcoded by a human. You would think that this would work on paper but will ultimately fail with edge cases as not every intersection is the same. So the move over the past year has been towards end to end networks and ironing out edge cases with more data and training on the E2E network. Tesla’s goal is to just have one humongously giant neural network that drives the car and handles everything. Up until the update, the software that drives the car on city streets was E2E but upon entering a highway used the v11 software stack, aka rigid programming. This update is viewed as a major step forward because now there is one single stack for both city and highway, meaning they can improve and iterate on one giant model, hopefully leading to meaningful and rapid improvement. The drawbacks is that Tesla needs massive amounts of compute to make these changes, hence the huge spending and demand for not only Nvidia GPUs but also their own in house hardware for training centers.

The name sounds like it means it'll pull out of the current parking location and park itself at the destination, but I'm not sure.

When will this come out?

Wasn’t it always like this with the previous update? I test drove one with 12.5.4 and I think it did that

The name just means that it uses neural networks for all parts of the driving software, both image recognition and decision making, instead of just image recognition which was v11.

For the majority of the country it's the fast lane and slower traffic stay in the right lane. It's the same in practice for the rest of the country at least for every state I've been to. Yes, they need to fix it for Europe where it's actually a thing. As far as I can tell it's not enforced and not practiced anywhere in the USA. Before you tell me "it's the law" in my state, so is the speed limit and do you go the speed limit? If you're not keeping up with the flow of traffic there is a chance you'll get a ticket, otherwise I bet you'll notice the majority of drivers do not treat the left lane as passing only.

Thanks for explaining that. Sounds like this is something that would work better on HW4 and onwards

The safest drivers are those that get in the least accidents often by using a combination of attentiveness and defensive driving. For experienced drivers, the majority of accidents are the result of distraction, drowsiness or drinking. In many states and in practice in many others the left lane is the fast lane and you won't have any problems if you're keeping up with the flow of traffic. In the few states that actually enforce a passing lane they don't enforce it when there's moderate to heavy traffic.

Is autopark included in just regular autopilot? So I dont need FFS or enhanced AP for it?

There is truth to that, but you can always attempt to optimize a model to run on slower hardware. They already did this once for 12.5, which I have currently running on my 2019 Model 3.

End to End means the neural network consumes video data and makes choices on speed and steering wheel position with no intermediate products. In the past the neural network would produce an intermediate output (such as lane lines, or vehicle path, etc), and classical C++ code would decide the steering wheel and gas/brake decisions.

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Speed on the highway has never required intervention. It's been set and forget. With FSD cruising speed has always been problematic. I'd also like the ability to revert to regular old cruise control without FSD as well. I've not found a way to do that except by dropping to basic autopilot.

I'm a 22 MXP with HW3 and an 8GB CPU. I'm still stuck on 2024.32.3 and FSD 12.3.6. Any one with this build got a recent update?

It means it's fully using ML/AI algorithms from input (cameras) to output (controlling the car), without any "hand-coded" logic like "if red light then break".

The highway logic was still using v11.

Just bring back the setting to require consent to lane change, and let me set to “minimal lane changes” as a permanent toggle. Speed control on a vehicle in 2024 would be a good touch too.

Unless it gets pulled due to the left lane issues, employees and YouTube people tend to get it a week prior to the first tiny wave of the rest of us bozos. But for most people, it’ll be a couple weeks from when the first videos are posted online.

I’m curious - Why is the steering wheel nah so awful? I just jiggle the volume up and down and it goes back to happy. Way better than my last car that needed two hands on the wheel every six seconds

The problem arises if you’re *only* keeping up with the flow of traffic when driving in the left lane instead of passing the traffic to your right. If you pace the same speed as the lane to your right, it causes traffic behind you that may want to go faster to try to pass on the right, in the slower lanes, which is more dangerous. Actually moving out of the passing lane when you’re not passing is the correct way to use a highway.

What you are saying is wrong in multiple areas.   1) the passing lane is not a fast lane no matter what people think, so long as you are just above speed limit you are fine. Obviously you can't control belligerent drivers and have to move out of the way if some truck decides he wants to go 100mph in a 70.  2) it is absolutely misinformation to state "you could get a ticket for not matching the flow of traffic", that's not how speed limits work  That's not a thing, you can get a ticket for being under the speed limit, and you can get a ticket for for being as high as 5-10mph above the speed limit. You will never get a ticket for driving the speed limit while other cars are driving recklessly above the speed limit. Other cars going 20-30mph on the highway isn't an excuse to also do the same, the fastesr you drive the exponentially lower your reaction time and the worse your car will handle. Drive safe

On every version what I had to do was to set to minimize lane changes every drive, and set to not use HOV lanes in settings. And now it'll camp in whatever lane I put it in.

No, autopark is only available with FSD sadly

I have 12.5.4 and it worked really well on my 1500 mile road trip over the weekend, but had a major issue at night staying in the lane on 2 lane highway mountain roads at night. It crossed over the line a couple times on sharp turns onto the other side of the road requiring me to take over. The turns weren't too crazy sharp and I wasn't going too fast, but that was the worst regression for the last update. Hopefully the new update takes care of it.

Do you have any evidence for any of that? Because it sounds like something you just made up.

> that the max speed should be 85MPH Also the 85 MPH cap is ridiculous. 90 MPH was a good top speed back with the RADARs, so hopefully we can eventually get back there.

What does end to end on high way mean?

You're complaining about V11. This update switches highway to V12. It'll be completely different.

Just annoying compared to the camera-based driver awareness monitoring

Before this when you got on the freeway it would go from FSD to enhanced auto pilot. Meaning it went back to hard coded logic and not the AI. Then when you exited it went back to FSD. Now it's all FSD the whole time

It uses a neural network. Singular. That's the definition of end-to-end. It's just one neural net all the way from the inputs to the outputs.

There's no code. How could it require consent or allow you to set a speed?

They are talking about the neural net. The software for Autopilot was originally hard coded with if/then statements essentially, with some machine learning models / neural nets peppered in for certain things. They developed FSD for city/streets driving and hard coded a lot of things if/then style but also had a lot of neural nets / machine learning. They rearchitected FSD several times and this last re-architect removes all of the if/then code that makes decisions (could be wrong on some of this point) and they have "end-to-end" neural networks for photon coming into the camera to an action taken by the vehicle (speed up, brake, adjust or turn steering wheel, etc.).

That ability doesn't exist with end-to-end. It's not simply programmed to drive a certain speed.

And this will promptly come to my HW3 vehicle shortly right? My HW3 is definitely not obsolete, yes? Make it so?

It sounded like they "backported" some AI4-specific calls to the AI3 module, so the same model should run, albeit, a lower parameter count on the AI3 chip. That makes it a lot easier to train from their perspective as it's the same architecture model, different parameter count depending on the target platform (AI3 vs AI4), so they will be able to release updates to AI3 as fast or shortly after the AI4 model is released.

I’m nervous about this. 1.5.4 on HW3 is randomly jerky jerky and constantly feathers the throttle. The highway stack has been rock solid and is the only thing for me that passes the wife test. I hope they don’t eff it up…

Usually these updates take a few weeks to come to Legacy vehicles.

Legacy/HW 3 support?

I just upgraded my 2018 from EAP to FSD. EAP would always leave the left lane with a message about getting out of the passing lane. Now, FSD just sits there like an asshole doing 70 in a 65.

No code doesn't inherently mean no way to influence the NN output, no? Perhaps some kind of 'prompt engineering' could define the desired speed. Also, presumably the NN inputs include things like navigation map data which likely also has speed limits \[which could be modified at runtime\], no?

Taken three long road trips using different versions in the past, racked up over 5k miles on FSD. What works for me until they sort out the left lane camping is setting it to minimal lane changes. I control the regular lane changing, it does the rest. A few phantom brakes, a couple exits it tried to take that were wrong but overall it's a game-changer for me when it comes to long drives. I'll drive places I could have flown because I consider it less aggravation.

It should be able to if I turn off the automatic speed setting. Why does the setting exist if it does nothing?

Yeah. If the car is in the leftmost lane and the lane immediately to its right is open, it should *always* move over. No exceptions.

That's weird, I have the opposite experience. E2E City has been spectacular. Old highway stack is much dumber and annoying. I can't wait for E2E highway

”Then” is not code statement, maybe you mean if/else/or? They probably used more complex code than that though, including events, switch cases etc

Ah I assumed that was the case but was excited about it potentially being available by default. Would really help with setting the car even further apart from the competition.

That's what I do too. I'm planning on driving from Denver to Calgary in a few weeks, a distance of just over a thousand miles each way. I've done the drive before and I'm looking forward to doing it again now that the visual attention tracking feature is working even when wearing sunglasses. But I'd be annoyed if I had to keep stepping on the accelerator to speed back up again or if the minimal lane changes option goes away with the full-stack neural network update (or if it ignores that option).

Coming from Australia where we have the same problem of everyone camping in the fast lane doing 0.000001kph faster than the cars in the slow lane it was a shock to experience German drivers on the Autobahn. They ONLY use the fast lane to quickly pass slower cars then immediately move back to the slow lane. It was just so much better, but it was certainly FAR scarier regularly changing lanes at 180-200kph. I can 100% understand why scared drivers would be unable to do it. I am a confident driver, and it kept me VERY alert and focused.

I’m on HW3 and highway FSD has been fantastic. Drove hands free (but very attentive) with v12.5.4 for close to 2k miles last week on a road trip across TX/NM and it was pretty solid. The only disengagements were when it picked the wrong lane for a turn off which happened only twice and another time where it got lost in a parking lot trying to reach a supercharger. My wife felt comfortable and totally relaxed on the drive which says a lot. I got her to try it for serval longs legs of the trip and she really liked it.

Funny, they said the same thing to Einstein :-)

Thanks for pointing that out. Yes, I meant if/else statements rather than "if/then." The original implementation likely included various control structures like switch cases and events alongside if/else logic. The re-architecture aims to move towards more end-to-end neural networks for decision-making.

It doesn't do nothing. Automatic speed offset automatically sets the max speed to 50% above the detected speed limit (but hides that from you). This, in effect, lets the car go as fast as it feels it should in almost any situation.

End to End means the neural network consumes video data and makes choices on speed and steering wheel position with no intermediate products. In the past the neural network would produce an intermediate output (such as lane lines, driveable space, vehicle path, etc), and classical C++ code would decide the steering wheel and gas/brake decisions.

That would be because the highway stack is running v11... V11 higheays is excellent for long distances.

> or if the minimal lane changes option goes away That would be a bummer for sure. What I try to keep in mind is this world-shaking technology with no other manufacturers (at least in the US) coming even close. It's going to go through a thousand revisions and not all of them are going to be smooth. But maybe one day as your car drives you to Calgary while you sleep in the back seat you'll remember the early days.

I think it may be from the context of IFTTT, which means If This, Then That

"If-then" is a pretty common way to describe conditional statements. https://en.wikipedia.org/wiki/Conditional_(computer_programming)#If%E2%80%93then(%E2%80%93else)

No you are not “fine” you’re just above the speed limit in a passing lane, unless your are *passing*. Hence the name. If there’s space for you to get over to the right, do that. Then if someone is going to slow for you in that lane, guess what there is a *passing* lane to temporarily change into while you are *passing* them

Only if your on chill/average

Try turning off sentry for a night to go to a deep sleep. It restarts your fsd software and helped tremendously on my hw3 MY.

Obviously it's possible to describe conditionals as if/then

That’s a problem but not my biggest one. If I want to go 85 please let me bloody do so

Which version are you talking about? I kept my car on V11 specifically for this… I tend to go 85 on highways and have no interest in “upgrading” to a version that will be finicky about letting me do that. I’ve seen that comment for every version of v12 so far and am super glad I didn’t update.

…interesting…

I wish we had better drivers and the left lane was used as a passing lane but in the USA good luck. It certainly seems like FSD does learn from drivers, since I see its behavior in a lot of drivers. I'm hopeful they can at least get FSD to learn to get out of the "passing" lane.

Looks like this version still can't reach the max speed, very annoying.

I’m on 12.5.4 but it’s been that way for as long as I can remember. I often press the accelerator to get to the desired speed, and I’ll admit sometimes my foot hangs on the accelerator but not always. It’s not perfect but for me overall it’s amazing and gets better with every update I purchased FSD and use it often, so I tend to get the updates early

my Sentry is always off overnight, it's super inconsistent whether it's being weird or not

Just did Vegas to LA on Sunday and it gets slowed down and stop-and-go with all the traffic. Was a blast with FSD compared to absolute drudgery when manually having to manage all that speed control.

There are still safety systems that overwatch the end to end that are hard coded. It's one of the reasons for inconsistent behavior. At the same time I've had the neural net try to run into things with the emergency braking taking over and stopping it.

Don’t worry, it’s no better on hw4

Each point release seems to fix some issues but introduce new quirks. Takes me a week to figure out what they are. Mostly good but 12.5.4 will phantom stop upon making a right turn on a green light for me. I also have an intersection where I usually go straight but its twice accidentally slipped in to a left turn only lane. So annoying when these happen.

 everything you said made sense to my caveman brain. thank you.

So crank it to 85 and let it eat

You can absolutely get a ticket for driving in the passing lane in certain states when you aren’t passing, even if driving exactly the speed limit.

What makes you say that? As far as I know, it’s only gone out to HW4 for influencers so far, while HW3 influencers are strangely absent.

Noone yet..

You should get 12.5.4.1 soon, that’s for people with 2024.32.x

My 2023 M3 has been very glitchy since the update this week. Screen has turned off a few times while I’m driving, then restarts as if I just turned o. The car. Anyone else experiencing this?

Eh I'm on a road trip right now and I've never noticed this back home but here fsd in the city is wackk. It constantly sets the wrong max speed limit. It saw a sign that said 60 east and it set the max speed to 60mph on a 30mph road.. 🙃

You, Mr. Szalinski, are hardly Einstein!

i just want TACC back please

Thanks for the info. V11 doesn’t do that which is lovely.

What kind of "prompt engineering"? Any ideas? I doubt they're using map speed limit data as one of the inputs. That would likely cause some pretty severe issues when that map data is wrong. Incorrect speed limit detection was a pretty major issue before V12. It's probably for the best that that's out of the picture now. And yes, you can program in some modifications of the inputs at runtime, but now you're back to hard-coding things, which is the reason why V11 and prior were so robotic and limited in what they could do in imperfect situations.

notateslaapp.com wrote > It's just hit early access testers on Model Y and Model 3 vehicles—with HW4. So nope, just HW4 for now 😕

Same, my car seems overly worried about vehicles in other lanes. (I know I'm attributing thought, but it's the best descriptor I've come up with.)

You have to use some degree of common sense in the passing lane, yes its for passing, but that general means for passing vehicles that are staying at or below the speed limit for whatever reason. It's not an express lane for people that decide they want to illegally drive 20mph above the speed limit which is the only thing I am saying here. It's basic human impulse especially when you have little patience to want to keep passing people or to drive as fast as you can get away with. But doing so and forcing everyone in the passing lane to get out of your way is just entitled and a dumb way to drive.

I never said to drive in the passing lane at the speed limit champ, nor was I stating you wouldn't get a ticket for doing so.

The patch notes mention it but maybe not all HW

You learn something new every day - thank you!

I got 2024.32.10 on HW3 this morning

What's the detailed architecture of Tesla's 'end-to-end' stack beyond a catchphrase, any ideas? The speed limit data is coming from somewhere, whether signage, low-def map data, or road type. The system already needs to be resilient against inconsistencies whether a missing signs, construction zones and road closures blocking lanes or routes, weather and road conditions not be suitable for the posted speed... the justification for NN being they balance these inputs better without hard coding. But that's hard coding rules and logic, not necessarily variables. Plus "I prefer 75" (as an input) doesn't mean "only ever go 75" or "only use this value as the only possible input" because the situations change and conditions might not be suitable. Regardless, their driver profiles seems like a better way to approach this at this point because conceptually it's more about a general behaviour and then let the system self-optimize around the actual values.

If not, then you are asleep… else you are drunk.

and it has the same release notes? Just wondering if all the features are being deployed on HW3 and HW4 at the same time

I'd expect when it merges on that even in Hurry it'd just go to + some offset vs the flow of traffic, but then like Auto speed today you can press the gas to have it go faster. Last thing you want is even in Hurry mode to have it jump onto a highway at 85mph, +20mph over a speed limit, and get pulled over. They'd want you to opt into that risk. I wish it wouldn't default to left-lane in Hurry unless it's already going that much faster speed, though.

Classify training data by speed. Feed that in as a parameter during training; network learns to condition on it because it's predictive. Then set it at runtime. Lane permission is a bit more complicated. During training runs, notice when the network changes lane. Train it to generate an output slightly *before* it changes lane; this should predict imminent desire to change lane. Map this to "lane switch permission" popup. Then sample runs until you have a balance of changing lane or not changing lane; train one with a "user agreed" input and the other with a "user disagreed" input.

Hw4 has been far better than hw3 for me in both a 23 MYP and a 24 m3p.

if you consider going 10 below the speed limit at all times better, sure!

It is better at the things the previous poster mentioned. I did not claim it was perfect. I too am very nervous about e2e highway currently. E2E has been pretty great around town where pushing the accelerator briefly to get to speed isn't the end of the world but if I have to do that every few minutes on road trips, I will be extremely unhappy. I'm planning on only taking 12.5.6 and later in my m3p and keeping my wife's car at 12.5.4.1 until highway E2E knows how to hold a set speed.

Yes I would want it to jump up to 85 when that was explicitly set as the max speed, which was the case in the video. It can be on the gradual side but it needs to reach it unlike what the video shows.

Holding off on this update I like 12v power during sentry mode for stuff like fridges.

There's gotta be some intermediate products, though, right? Where does the data for the viz come from?

Thats kinda funny. Scary, but funny lol

Wdym? TACC never went away. At least I still have it on my M3.

You don’t have FSD

Yes I do, I'm on FSD v12.5.4.1

So you have FSD and TACC and you can use both?

[Yes, I have access to TACC, Autosteer, and FSD](https://i.imgur.com/LSej1v5.jpeg). And Im on the [latest FW available v2024.32.10 with FSD v12.5.4.1](https://i.imgur.com/0laxBZW.jpeg)

Well you do but you need to stop the vehicle to turn one off or the other. The double pull to engage FSD and single pull to engage TACC does not work. To me that’s one or the other, not both

Just set up a local driver profile. I have my main driver profile setup with FSD and a local profile setup with autosteer. If I want to switch modes while driving, i just switch the active profile. It'll allow you to go between profiles without having to put the car in park. I do this all the time. FSD on city streets, when I get in the highway I switch to using the profile with autosteer/tacc, and when I exit the highway I reactivate my main profile to get FSD back.

Hmmm. Seems kind of complicated for something that should just work. I need to set up two different profiles to access a feature that should work on its own. If that’s the case and Tesla knows it why don’t they fix this glitch.

Not sure, but I'm not complaining cause it works. It's 3 presses on the screen. Settings > Profile Name (to activate the dropdown) > the profile you want to use. Until Tesla allows us to switch between driving modes without putting the car into park, this is the next best thing. Edit: Also, since I only use the local profile for Autosteer/TACC, I never had the need to change any of the settings once it's initially set up. While I do admit it's a hassle as you'd have to also log into all your media apps for the local profile when you first set it up, but once it's done, you don't have to touch it anymore. For navigation, if you already have a route planned, it'll remember the route when switching profiles mid drive.

Same, I now keep my foot on the accelerator and control speed manually otherwise it will drive below the speed limit and phantom brake.

I'm pretty sure that's not quite true. There's one set of neural networks that interpret the video to the 3d model of the environment, then another set that decides what actions to take based on the 3d environment. It's not one big neural net that goes straight from video to decisions. This just replaces that second half C++ with another neural net. Unless you have a specific source that says otherwise.

Okay so I had a similar experience today and didn't disengage and got maybe good news not sure lol. It was on a road that had a posted maximum and minimum sign. The maximum one was knocked down on the ground. It interpreted the minimum as the maximum and put my "max speed" from 65mph to 35mph but it kept going 70 and even flashed a message saying it was going to maintain speed for flow of traffic rather than attempt to suddenly go from the 70 it was going down to match the "new" 35 "max". Lol

That is bad news. It is going to ruin the highway experience.

Please don't ruin rest of the FSD. The speed management sucks. I want ti be able to set my Max speed.

Why is “Construction on Your Route” not relevant in Canada? We don’t have road construction here in Canada? Depending what city you live in, road construction is all we have. What gives?

It’s fine to camp there if it’s the HOV lane though. Not sure if the car can always tell the difference.

What does end-to-end mean in this context?

The newest FSD version now works on highway too instead of the old stack

Wait, the previous version did not work on highways? I'm confused.

the FSD switched over to a much older different FSD when you were on the highway. now they're all one singular FSD version

I see, thanks!

This is the very first release of an entirely new way of operating on the highway, so if there's any similarity between previous software and new camping in the left lane it's entirely by coincidence, unfortunately.

Is standard autopilot on highways improved?

doubt it

Aside from not nudging the steering wheel, 12.3.6 was orders of magnitude better than 12.5.4.1 for my HW3 M3. Minimal, predictable interventions all year, followed now by multiple unpredictable interventions per drive, many safety-critical.

Awesome

Recalibrator your camera

About 1 month later... Only got up to FSD [12.5.4.2](http://12.5.4.2) for HW3 (2024.33.5).

Nope. That was 12 (before 12.5.5) 12.5.5+ improved things greatly

No, before 12.5.5, it switched back to V11 when you were on a highway. So if you were on 12.5.4 for example and you were driving on a highway, it was actually using the old V11 code to drive. They switched to using the V12 end-to-end neural net on all roads starting with 12.5.5.