Just installed the 4.18.2 update yesterday... driving on AP with no radar is improved. TACC still trying to bring us too close to the car in front, with late braking in some traffic even with the early setting on... the Tesla Vision is just now seeing father ahead... an upgrade from last software version it appears.I got 2021.4.18.2 on my 2021 MY with Radar and there is nothing in the notes about Cabin Camera. Tried AP and it still asks to grab the wheel, like every 10 seconds!
Our install update notes did show the cabin cam now as well.
To get around the grab the wheel notice, try to just rest your palm on the top or bottom at 12 or 6 position and the message will almost never appear.