You have EAP, so, upgrading to FSD is $6k, but you need the HW3 chip, since yours came with HW2.5. If you get the HW3 upgrade, some people have reported it's free, and not $1k. There's a thread on here about that. And, once you get the HW3 upgrade, you don't have to pay $6k for FSD, you can pay...