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Tesla cars are not capable of driving autonomously according to the company and regulators.
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My dad doesn't care what the regulatory definition is, he just presses "Start Self-Driving" and off he goes.
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https://www.tesla.com/ownersmanual/models/en_us/GUID-59736DF...

"Failure to follow all warnings and instructions can result in property damage, serious injury or death."

"Driver intervention may be required in certain situations, such as on narrow roads with oncoming cars, in construction zones, or while going through complex intersections."

"Always remember that Full Self-Driving (Supervised) (also known as Autosteer on City Streets) does not make Model S autonomous and requires a fully attentive driver who is ready to take immediate action at all times."

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If self-driving is better, then presumably cheaper insurance costs would be an incentive.
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Different states have different rules about what sort of things insurers are allowed to charge different rates for. In the states that allow it, Tesla does offer insurance discounts for FSD usage.[1] Lemonade also offers discounts for FSD usage.[2]

1. https://www.tesla.com/support/insurance/fsd-discount

2. https://www.lemonade.com/fsd

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