Tesla rolled out a long-awaited software update late Friday that allows customers to request access to its controversial, Full Self-Driving Beta (FSD beta) program. Drivers who get a high safety score from Tesla will get access.

FSD Beta gives drivers early access to new features that aren’t debugged yet, including “autosteer on city streets” which enables drivers to automatically navigate around complex urban environments without moving the steering wheel with their own hands.

After CEO Elon Musk announced details about the FSD beta button, National Transportation Safety Board Chair Jennifer Homendy voiced concern over the company’s plans.
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