Tesla HW3 FSD Update Coming: What's Included & What to Expect

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It's been a while since HW3 owners have received a new FSD update, with the latest update coming with FSD version 12.5.4.2. While this version added vision-based attention monitoring with sunglasses, it’s still far behind the latest features available on FSD v13.2.1.

Tesla shared their FSD roadmap twice in the past few months, but HW3 was mostly left out, except for a single bullet point that stated there would be improved V12.5.x AI models for city driving.

We’ve recently seen HW4 vehicles receive much larger AI models, camera improvements that include processing video feeds at full resolution and 36 FPS, and much more. FSD V13 also gained features such as the ability to reverse and start FSD from park, amongst others.

It’s clear that HW3 is not powerful enough to run these latest FSD models, but HW3 owners are right to feel left out and disappointed with Tesla selling vehicles with HW3 up through the middle of 2023. Elon Musk has stated that Tesla will upgrade HW3 cars if needed, but are left in the dark in terms of what the upgrade will be and when it’ll become available.

Since that comment from Musk and Tesla’s updated roadmap in late October, Tesla hasn’t shared any additional news on HW3, until now.

Ashok Elluswamy, VP of AI at Tesla, has confirmed on X that an FSD update for HW3 owners is coming before the end of the year. Putting aside the 2 weeks joke, he did confirm that FSD V12.6 will be on its way for HW3 vehicles by the end of the year - which just happens to be about 2 weeks away.

FSD V12.6

WholeMarsBlog on X

It seems that the V12.6 build will be unique to Hardware 3 - as there haven’t been any builds with that FSD version yet. The closest build that we have to look at is FSD V12.5.6.4, which only went out to HW4 vehicles. We expect FSD V12.6 to include everything in 12.5.6.4 with possibly some additions.

FSD V12.5.6 brought a lot of improvements. We covered all of the features in FSD 12.5.6 previously, if you want a detailed breakdown and photos of all the features. However, here’s a high level overview of everything that version included:

• Better and More Natural Lane Change Decisions

• Updated Speed Profiles, including Hurry Mode

• Auto Speed Changes

• End-to-End Highway Stack

• Audio Data Collection

These changes greatly improved FSD on HW4, so we’ll have to wait and see if they provide similar improvements for HW3 vehicles. The more natural decisions should improve overall smoothness and get rid of the jerky-wheel syndrome and green-light braking that has become synonymous with V12.5.4.2. Alongside better lane selection, this makes the entire experience much smoother and more fitting of Full Self Driving.

The updated speed profiles are applicable on both roads and highways (up to 50 mph with this version), which means you’ll get an updated Chill Mode (with Minimal Lane Changes), Standard Mode, and the new Hurry Mode, which is focused on driving faster and making more frequent lane changes.

Auto Speed has also been removed in favor of Max Speed, which will let you define an overall max while letting FSD still pick its overall speed up to that maximum set speed. You can adjust the hard max by using your scroll wheel to slow down or speed up the vehicle.

However, the biggest feature in this update is the new End-to-End Highway Stack, which finally brings the benefits of FSD V12 on city streets to highway driving.

The final feature that we’re expecting in FSD V12.6 is the ability to collect audio data to begin training for hearing emergency vehicles. This one will be big and it’s what will make FSD feel very human-like. Tesla is starting off with detecting emergency vehicles, but you can expect them to start detecting much more than that soon.

Tesla hints at that in their release notes, saying that audio sharing will be used for features such as emergency vehicle detection. Expect FSD to react to more in the future, such as vehicles honking or someone yelling. Tesla also said that they’ll be looking to have the vehicle honk when needed.

Why FSD 12.6

It’s interesting that Tesla is choosing to name this version FSD 12.6 instead of FSD 12.5.6.x, like they’ve done in the past. This points at some additional improvements being included, but it’s not clear what they could be. Could Tesla bring down some improvements from FSD V13, or add some features such as the ability to reverse?

Tesla may want to stay away from the FSD V13 name if the HW3 version isn’t going to perform as well as FSD V13 on HW4, but at the same time, they could simplify some FSD V13 features and make them available for HW3 owners.

What’s in FSD V13

Let’s take a quick look at all the features in FSD V13 that weren’t in FSD 12.5.6.x. FSD V13 includes significant improvements to the FSD model that just won’t fit into HW3 that are likely responsible the the smoothness seen in FSD V13. This includes a much larger model, full camera resolution, higher frame rates, and more, but FSD V13 also includes these additional features:

• Speed Profiles on both City Streets and Highways (available on all roads and speeds)

• Integrated unpark, reverse, and park capabilities

• Start FSD from Park

• Improved reward predictions for collision avoidance

• Improved camera cleaning

• Redesigned controller for smoother, more accurate tracking

• Dynamic routing around road closures, which displays them along an affected route when they are detected by the fleet

While the larger model of FSD V13 is not expected to be available for HW3 vehicles, some of these other features have the possibility of making the cut in V12.6.

Legacy Vehicles

There’s no news on Model S and Model X legacy vehicles with MCU 1 receiving the same update just yet. Teslas with MCU 1 did receive FSD V12.3.6 on update 2024.26.3.1, but we haven’t seen anything indicating there will be another update coming soon. However, getting FSD 12.6 out for HW3 with MCU 2 could be the precursor to it becoming available for older MCU 1 vehicles.

We’re super excited to hear Tesla talking about HW3 vehicles and that an update is coming in just a couple of weeks. While it’s not FSD V13, it could provide massive improvements until a hardware upgrade becomes available for HW3 owners.

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Tesla to Replace Battery Seals on Select Model S and Model X Vehicles

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Tesla has begun reaching out to customers to replace the high-voltage battery pack seals in Model S and Model X vehicles manufactured between 2021 and 2022. In particular, this impacts vehicles between January 2021 and September 22, 2022. 

Tesla is notifying impacted owners through a notification and message in the Tesla app.

Plunger Replacement

The high-voltage battery port plungers intended for internal water leak egress (also known as flood ports) are being replaced with improved parts. The new parts are designed to be more robust against external water ingress due to submersion during flooding or other high-severity water impacts.

Tesla specifically notes that no action is needed from owners at this time - once the parts are available, owners will be notified with a notification from the app to encourage them to schedule a service appointment.

This voluntary recall is likely related to the incident where the fully submerged Model X caught on fire underwater, requiring first responders to wait for the battery to burn out before recovering the vehicle. That incident occurred back in October 2023. 

While Submarine Mode is a fun Easter Egg, it doesn’t actually improve your vehicle’s water rating.

Service Details

Taking a look at the Service Bulletin (SB-25-16-002), Tesla will be replacing all five flood ports and, if necessary, the breather plugs and flood port doors. Tesla will require you to take your vehicle in for this appointment, which should take approximately 90 minutes for the Model S, and approximately 60 minutes for the Model X. Tesla’s Mobile Rangers won’t be able to complete this activity in your driveway.

The part being replaced is the plug.

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Because this is a voluntary recall, Tesla will be offering this as a goodwill service for any owners who have exceeded their Model S or Model X limited battery warranty - so don’t hesitate to take your vehicle in.

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Musk Teases Major Improvements to FSD — Is Version 14 on the Way?

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Following a period of radio silence from Tesla on FSD updates, Elon Musk has finally hinted that progress is continuing behind the scenes on FSD and that “Several major improvements are incoming.” We’re pretty excited - it has been over 100 days since the last FSD update, and we haven’t heard much since then.

And several major improvements are coming

— Elon Musk (@elonmusk) May 1, 2025

The latest versions of FSD were V13.2.8 for AI4 vehicles and V12.6.2 for HW3 vehicles, both of which were released in January of this year — almost four months ago. While development has been ongoing internally, many have been wondering what the next public release will be. Will it be FSD V13.3, or will we jump straight to FSD V14.

Decoupled Releases & Spring Update

Tesla has now begun pushing Early Access users the 2025 Spring Update without an FSD version change. This means that we can expect the next FSD update to likely be based on the 2025.14 branch.

It’s worth noting that Tesla can add improvements to FSD at any time - and sometimes they do make minor changes without incrementing release numbers - small flag changes in FSD’s software to address how it does a specific task, or what data is uploaded.

With all that said, we expect the Spring Update to begin going out to more of the fleet in the coming days. We’re currently seeing about 58% of the fleet on the Spring Update, and only 30% of the fleet on the older 2025.8 January Update.

Cybertruck FSD

Not A Tesla App received information that an upcoming update was set to bring features from other AI4 vehicles to the Cybertruck, including Start FSD from Park, Unpark, Actually Smart Summon, and more. This update was intended to bring it closer to feature parity with the rest of Tesla’s AI4 fleet, but for now, Cybertruck remains the redheaded stepchild of the fleet.

We’re still confident that Tesla is working on this, and the continued delays on the release of an FSD update could point to the Cybertruck and a lack of data continuing to be a pain point for Tesla’s AI team. Cybertruck owners, including the author, have noted that FSD-equipped Cybertrucks continue to upload several hundred gigabytes or more of data per month. This topped out at nearly 1.9 TB of data uploaded in April 2025 for the author.

That’s a massive amount of data - and other users on social media have mentioned much the same for their own Cybertrucks. Tesla needs as much data as possible to tune the FSD models, and given the small fleet size for the Cybertruck, it requires a vast amount of data per user.

“Major Improvements”

While Elon didn’t mention what constitutes these major improvements, we have a lot of expectations besides what we know about the Cybertruck. Learning from the recent and successful FSD launch in China, Tesla is now able to utilize a more generalized model without specific local training data. This could potentially translate into better performance in North America as well, as the 7.7 million miles globally driven on FSD every day are feeding back into Tesla’s data loop.

We’re hopeful that future improvements continue to focus on improving tracking and decision-making, as well as lane handling. FSD users on X continue to point out issues with lane selection and lane keeping in the latest versions of FSD. On the flipside, Tesla has greatly increased the comfort and smoothness of FSD - and V13 is a prime example of that.

While V13.2.8  is also capable of pulling into parking stalls both forwards and in reverse (thanks to one of those flag changes recently), it does an oddly poor job of parking. Tesla’s Vision Autopark, on the other hand, is exceptionally accurate, even with big vehicles like the Cybertruck. It feels like Tesla is working on the parking lot stack to prepare for the upcoming launch of Robotaxi in June.

What About FSD V14

Back in the Q4 2024 Earnings Call, we heard about FSD V14, and just learned a little bit of what will make it unique. In this case, it's auto-regressive transformers that will improve FSD’s already powerful perception system and help it to predict better how other vehicles and road users will behave around it.

That, alongside a larger model and increased context size, will help FSD manage edge cases and make better decisions. The larger model and context size increases are likely another challenge for Tesla, which is already pushing the hardware limits of AI4 with FSD V13.

We did a deep dive into what we know about V14, which you can read here.

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