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Autopilot camera unavailable notification came today for the first time in 4 years/60,000 miles, so the reasons given in this thread are probably not correct (i.e. condensation, etc.). I'm assuming that like most issues with Tesla it's a software/upgrade problem. But the autopilot seems to be...

The compass can be valuable. It should be an option to keep it rather than either continually tapping the screen or turning off navigate.