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I work on Tesla's Autopilot team. I watch hours of customers' driving videos every day and am monitored constantly.
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The only sensor removed was low-resolution radar - it wasn't helping, it was causing the "phantom breaking on freeway when driving under an underpass" issue we were all complaining about 6 years ago.
I think they are re-adding new high-resolution radar to some models, but that was a news story 1-2 years ago and I haven't paid close enough attention to see if it ever happened.
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- businessinsider.com/tesl...
Tesla didn't use to monitor them closesly, and then they got bad press because employees were sharing videos of customers walking around their garage naked
https://finance.yahoo.com/news/could-see-inside-people-garages-180721907.html