I took my S90D for service last week as I couldn't engage AP on the divided highway over 55mph. This has been consistent over the last 2 updates. The error message said to contact the service center for manual calibration. At noon I had a message that they needed to order a part. By 3:00 they said it was a firmware issue and I could pick it up in an hour when they got it back together. When I picked it up at 5:00 they said they went ahead and placed the most common size shim to see if it would help. And, it should calibrate in 30-50 miles.... After 150 miles (75% well marked highways) it finally resumed AP and TACC functions, but still limited to 55mph on highways and the same error message. Other roads have the standard limitations (and it drives much better than previous). Is anyone else still having this problem with AP2, 17.17.4?