Tesla’s FSD has made some truly incredible strides since V11, and since FSD V12.5, the experience has been hands-free for vehicles with a cabin camera.
However, a persistent point of frustration for many users is the strictness of the Driver Monitoring System (DMS), often referred to as the “nag.” In a recent interaction on X, Mike P detailed his grievances about how strict the DMS was.
This post drew a response from Elon Musk, who said, “You’re right.” Just a few days and a relatively unassuming point release later, Tesla has already decided to take action to improve its DMS.
The core issue here, which many who use FSD can attest to, isn’t about wanting to be irresponsible. Instead, it is about the current system’s sensitivity. The DMS can feel overly punitive for brief, normal interactions with the vehicle’s center display.
User Experience Woes
Mike P’s experience was common - you can’t even glance at the display to change the song or add a nav stop without the DMS warning you to pay attention.
If you continue, then you risk receiving a FSD strike. This leads to most drivers disabling FSD and typing their destination in while manually driving. For the casual observer, you can tell that it is clearly far more dangerous.
This highlights a safety paradox: a system designed to ensure attentiveness can sometimes lead to less safe workarounds. One must acknowledge that Tesla is in an odd position, being incredibly cautious about safety and ensuring it stays within NHTSA guidelines. However, the nag today is overkill in some situations, such as glancing at the center screen.
Tesla Confirms Change
Musk’s relatively concise answer resonated with his previous outlook on the matter. During Tesla’s Q1 2025 Earnings Call, he acknowledged that the DMS can be too strict and mentioned that Tesla is actively looking into ways to loosen those restrictions. He also pointed out the irony between the current system encouraging users to disengage FSD for simple tasks, only to re-engage it moments later - a less-than-safe cycle.
In a post on X, Ashok Elluswamy, Tesla’s VP of Autopilot AI, delivered welcome news. He confirmed that the latest FSD update, V13.2.9, includes a loosening of the cabin camera nag. This is an undocumented change, and one that we’re very excited to see.
This undocumented change is the latest step in Tesla’s overall plan forward Unsupervised FSD, which would drop the DMS completely. Previous updates, like the shift to vision-based driver attention monitoring in V12.4 and V12.5, aimed to balance safety with user experience.
What Does This Mean?
While the full extent of changes in V13.2.9 will become clearer as Software Update 2025.14.6 rolls out to more FSD users, the confirmation of loosened cabin camera nag suggests a few things.
This likely means greater tolerance for brief glances at the screen for essential tasks, whether it be adjusting climate settings, inputting a nav destination, or changing the current song. It could also include a potentially more forgiving threshold for looking away, especially in low-speed scenarios. The DMS does not ding you for using the display or looking away while the vehicle is waiting at a red light today, but Tesla could expand this to driving under 10 mph (16 km/h).
Subscribe
Subscribe to our newsletter to stay up to date on the latest Tesla news, upcoming features and software updates.
Tesla has introduced a new, more flexible and affordable way for owners to get peace of mind after their factory warranty ends. This new service is a monthly subscription that replaces the previous Extended Service Agreement (ESA) in the United States.
The new subscription model makes it more appealing to owners, as it avoids a large upfront payment. This new subscription also offers better coverage terms than before.
Longer Coverage, Better Flexibility
The biggest upgrade in this new format of the ESA is the length of the coverage. The old prepaid ESA was limited to just two years or 25,000 miles beyond the factory warranty, for a total of up to 75,000 miles.
The new monthly program doubles the potential coverage period, offering protection for up to four additional years beyond the factory warranty, or until the vehicle reaches 100,000 miles, whichever comes first. Coming from a basic vehicle warranty of 4 years or 50,000 miles, this is a huge jump up in customer protection.
Pricing & Deductible
The monthly price is simple, but it varies depending on the model. The Model 3 is the most affordable at just $50 per month, while the Model X is the most expensive at $150 per month.
Model 3: $50 / month
Model Y: $60 / month
Model S: $125 / month
Model X: $150 / month
However, Tesla will also charge a $100 deductible for each service visit that covers an included repair, on top of the monthly subscription fee.
Exclusions
The ESA is an exclusionary warranty, meaning it covers the repair or replacement needed to correct a failure of most parts manufactured or supplied by Tesla. However, there are some parts not covered under the ESA, which include:
Issues arising from accidents, modifications, or environmental damage
Essentially, the ESA is designed to cover the components other than the drivetrain. That includes the touchscreen, computers, heat pumps, suspension, or other non-drivetrain electronics that aren’t covered after the 4-year basic warranty.
Tesla vehicles come with an extensive battery and drivetrain warranty that covers these items for up to 8 years. The maximum mileage varies by model. RWD Model 3 and Model Ys are covered for the first 100k miles, while Long Range Model 3s and Ys are covered up to 120k miles. The Model S and Model X are covered for up to 150,000 miles or 8 years.
Eligibility and Sign-Up
Eligibility for the new ESA subscription is pretty clear-cut.
Your vehicle must be within its 4-year / 50,000-mile Basic Vehicle Limited Warranty. Tesla will send customers whose basic warranty is about to expire a notification approximately 3 months before the time-based expiry.
The subscription is not available for leased vehicles or vehicles that were purchased used. Tesla plans to offer eligibility to customers who purchase their vehicle at the end of a lease by the end of 2025, and for used vehicle customers in the near future.
The Cybertruck, due to its relatively newness to the market, doesn’t have access to the ESA quite yet - but it will be coming “in the near future.” For Canada and Mexico in particular, the ESA is not yet available, but Tesla has confirmed plans to bring this subscription to other regions soon.
Subscribing is done through the Tesla App. Tap Upgrades> Service Plans > Extended Service Agreement. Once you review the terms and the monthly fee, you can then hit Subscribe and confirm your payment information.
If the ESA is not visible, your vehicle is not eligible for the subscription.
Payments for the ESA only begin once your original warranty has expired. However, you can sign up at any time, and payments will automatically start when your factory warranty expires.
Other Service Plans
Tesla also offers a Windshield Protection Plan and a Wheel and Tire Protection Plan, if you didn’t already know. Both of these plans are subscription-based and are currently only available in the United States. However, Tesla has indicated that it plans to expand to other regions in the near future.
Tesla is officially opening up its long-anticipated Robotaxi service — but only for a select, invite-only group. Invitations have gone out to influencers to experience the first autonomous rides this Sunday, June 22, in Austin. Dubbed an “early access” program, this marks the official launch of Tesla’s Robotaxi service and the new Robotaxi app.
Invitation Details
Tesla is taking a cautious approach to its initial rollout. Only invited users — largely influencers and carefully selected individuals — will get to hail a ride using the new Robotaxi app. These early testers will be among the first to experience what Tesla describes as a fully autonomous ride, although not entirely without human oversight.
The invitations were sent out early this morning and offered plenty of new details about the Robotaxi service, the app and ride restrictions.
Human Safety Monitors
Elon Musk previously stated that there would be “no occupant in the driver seat,” and while that’s technically accurate, it’s not exactly what we expected. These Robotaxi rides will have a Tesla employee seated in the front passenger seat. This “safety monitor” will oversee the ride but not intervene unless necessary.
Interestingly, the documents shared with influencers indicate that these safety monitors will be subject to the same restrictions as Tesla owners with FSD Supervised. The cabin camera will monitor their gaze to make sure they’re paying attention and presumably warn them if they stare off to the side for too long.
Teleoperators
While there will be safety monitors in the vehicle, there are also expected to be teleoperators. Although Tesla doesn’t explicitly mention teleoperators, it does note that the cabin camera will only be used in the event of a support request or if “operator assistance” is required in an emergency.
Teleoperators aren’t a surprise at all, as all autonomous vehicles use them today when a vehicle needs help. While in the case of a Model Y, it’s possible for the safety monitor to take over the vehicle, Tesla is preparing for the future when there won’t be a safety monitor in the vehicle and the vehicle doesn’t have a steering wheel like the Cybercab.
Cabin Camera and Mic: Off By Default
Passenger privacy appears to be a priority. Tesla confirms that the cabin camera and microphone will be off by default during the ride. These features will only activate if the rider opts in, requests assistance, or in the case of an emergency. This appears to contradict what Tesla mentions about the cabin camera monitoring the safety driver, but it’s possible Tesla means that these features will be off by default when there isn’t a safety monitor in the vehicle.
Tesla says that after the ride, the camera may be temporarily activated to check for cleanliness or forgotten items before the vehicle continues to its next destination.
Will React to Emergency Vehicles
While we know that these vehicles will be equipped with a newer version of FSD, it’s not yet clear exactly which version it's. However, it appears that this version will now feature sound detection, allowing it to detect and react to emergency vehicles.
Tesla says the vehicles will use the vehicle’s microphone to recognize sirens or other road alerts. If a safety event is detected, the vehicle will reduce media volume and notify users on screen.
Like Tesla’s vision processing, all audio is processed in the vehicle and not transmitted unless explicitly enabled by the rider.
Recording and Sharing Encouraged
Tesla is allowing invited guests to bring one additional guest with them to experience the Robotaxi network. Tesla will be allowing the recording and sharing of photos and videos, so we should have plenty of new details on the Robotaxi soon.
Tesla is also asking users to rate their experience via the Robotaxi app, likely trying to identify any trouble points.
Restrictions for Robotaxi Rides
Tesla’s Robotaxi service will operate within a geofenced area of Austin and will be available between 6:00 AM and 12:00 AM. So, essentially, there are only six hours when Robotaxis won’t be available. Tesla states that users will be able to see the geofence area within the app; however, we currently don’t know the size of this area.
Airport rides are not allowed, presumably due to more complicated scenarios. Tesla also states that the Robotaxi service can be paused at any point due to inclement weather; however, the forecast for Austin over the next week is clear and sunny, so this is unlikely to be an issue.
Pricing and Fees
Tesla’s agreement states that all rides will be priced in U.S. dollars and may include tolls, airport fees, and other regulatory charges. It’s not clear whether invited guests will need to pay for rides, but since Tesla is mentioning prices and doesn’t explicitly state that these rides are free, they’ll likely have to.
We may soon find out what Tesla will charge for Robotaxi rides and compare it to other services, such as Uber and Lyft. However, like all other Tesla pricing, these will likely change over time as well.
Tesla reserves the right to charge users for damages or litter left in the vehicle, according to documents shared with influencers.
Robotaxi App, Not the Tesla App
One of the more surprising revelations is that Tesla is not using the Tesla app for this service. Instead, riders will be required to download a new Robotaxi app. While code related to Robotaxi features has been found in Tesla’s main app, it now appears that the Robotaxi app will serve ride-hailing passengers.
The Robotaxi details we’ve seen in the Tesla app may be for future support when owners start adding their vehicles to the Robotaxi fleet. This way, an owner can open up the Tesla app and know the status of their vehicle.
The Robotaxi app won’t be publicly available on the App Store yet. Instead, invitees will receive a separate download invitation, likely through a service like TestFlight, which allows users to test unreleased apps. Tesla emphasizes that only the original invitee can download and use the app, but hopefully, we’ll have our first look at the Robotaxi app soon.
What’s Next
While this represents a soft launch for Tesla’s Robotaxi service, it offers our first glimpse at what the service will be like in terms of restrictions, geo-fenced areas, price, and, of course, a look at the Robotaxi app. Like all things Tesla, they’ll iterate and improve the app, service, and process over time.
We should have a lot more details and the first ride-along videos soon.
