Take this for what you will - he tweeted today that we are still 2 years from sleeping door to door. That's my definition of level 5 and a Tesla network of autonomous robo taxis. So at this point the logical extrapolation from Musk's claims is: 1 - Teslas since October 2016 builds will do Level 5. This is due to his Tesla Network claim. 2 - Cameras are all that is needed. 3 - A board swap is possible if needed later. 4 - Tesla has a long software road ahead. Interestingly he repeated the claim that an autonomous Tesla will go NYC to LA in 2017.