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Years after its announced debut, Tesla has finally released beta version 9 of its Full Self-Driving system, albeit warning drivers that the software “may do the wrong thing at the worst time” and urging them not to become complacent at the wheel.

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Tesla CEO Elon Musk, who over the years has become famous for missing deadlines, originally said beta version 9 was coming in 2018, then 2019, and most recently no later than this past June. At the beginning of the month, Musk again swore to Tesla fans that the update was coming and attributed the delay to generalized self-driving being harder than he thought.

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In screenshots of the update’s release notes shared on social media, Tesla points out improvements in driving visualization, which will display “additional surrounding information” on the in-car display.

There are also improvements to the cabin camera above the rearview mirror that Tesla says will determine “driver inattentiveness” and provide them with audible alerts to remind them to keep their eyes on the road when using autopilot systems.

Importantly, Tesla states that images captured by this camera will not be shared if you don’t want them to be.

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In screenshots of the update’s release notes shared on social media, Tesla points out improvements in driving visualization, which will display “additional surrounding information” on the in-car display.

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