Ever since firmware 2.16.17 (and in the 2 other firmware versions I've had on the car since then, 2.17.37 and 2.17.95) I have had major issues with autosteer. I'm kind of worried that maybe something is wrong with my vehicle specifically because if everyone was having the same issues I am due to firmware, this forum would be lit up by now. The last version of firmware where I had autosteer working very well and consistent with how it has always behaved was 2.14.77. My next update after that was 2.16.17. Here is what I'm experiencing: Frequent loss of the lane markers in the instrument cluster. The blue lines will randomly disappear and then reappear even when the lane stripe is plainly visible. This behavior is worst when using autosteer in the left lane of a freeway, where the left lane marker is yellow vice white. I drove today on Houston's Westpark Tollway (as I do almost every day) for around 15 minutes, and the car was unable to acquire the left-hand lane stripe for about 50-75% of that time. The right-hand lane stripe will get lost sometimes too, but not nearly as often. Inordinately long times to initially acquire lane stripes to even enable the autosteer function. Previously, after entering the freeway via the entrance ramp, the right-hand lane stripe usually takes a second or two to show up because the entrance ramp has to end and the line has to become straight. It's taking my autosteer sometimes 5-8 seconds after the line becomes straight for it to appear in the instrument cluster. The lane markers in the instrument cluster will frequently shift positions, going from straight to angled to curved and back when the actual lane stripes are remaining straight. The detected lane width frequently changes. The lane will be a certain width on the instrument cluster, then all of a sudden get wider or narrower. If the width change occurs only on one side, the car believes it is no longer centered within the lane and will rather abruptly move to one side to where it thinks the lane center is (which is almost always incorrect). A few seconds later the lane width will change back to what it was before, with an opposite-direction abrupt move. Over the past 2 weeks, I've had 4 separate incidents of red-hands "take over immediately" alerts. I haven't seen these in months. I think the most recent one I got before this would have to be back in a 7.0 version of firmware. I have had the car physically drive out of the lane on a few occasions, which I have never seen before (activating the lane departure warning). Autosteer has previously navigated freeway sections with Botts Dots very successfully under 7.1 (I have a video of that from my own car at the end of this post). With 2.16.17+, I have not been able to navigate a Botts Dots section of the freeway, including the exact same section seen in the video. The car will drive out of the lane and I have to take over. I have no idea if this is related or not, but it started about the same time as the autosteer problems: I'm frequently losing Internet access. Randomly, map tiles will stop loading, Slacker stops streaming, and web browser won't work. The LTE signal shows good (usually at least 3 bars), but no connectivity. Every once in a while, connectivity will come back on its own if I wait 3-5 minutes, but more often I have to reboot the CID to get it back. I'm now having to reboot about once a day (sometimes twice a day) for this. All this time, the car has not shown a single error, alert, or warning. It thinks everything is peachy. I have heavily used autosteer since it was released last year, including a 3000+ mile trip with the very first version of 7.0. In every firmware release since that time, in my experience there have been gradual/incremental/slight improvements in autosteer functionality. In this release, the functionality has gone backwards to the point where I have to say it's the worst version released so far, including the very initial 7.0 version. I no longer can really trust it. At a minimum, 7.0 would keep itself in the lane or alert me to take over. In this version, it might drive out of the lane on its own with no warning. Is anyone else having any of these experiences with 2.16.17+ ? My vehicle is an 85D, April 2015 delivery.