Well not the code related to the mobileye camera, is my understanding, and no, I have no idea what this looks like, but that in itself cannot mean the way the car drives on autopilot is the same as it was years ago. Somehow the implementation of that code (if that makes any sense) is better; or is it the radar code has improved? Again, I have no idea on the subject but I will swear up and down that the car stays in the lane much more predictably and consistently than it did when I got this car over a year ago. Not to mention the lane changing improvements; that must be the camera? Radar doesn't see lines on the road. (wipers operate better also but that is not part of autopilot) Cannot comment on TACC as I don't use it; when I am in traffic I drive it manually as I cannot stand the way it gaps itself and decides to waste energy and brakes amongst other vehicles. Maybe the expert you are referring to @wk057 would be kind enough to comment if AP could be different now vs. then given the same code regarding the mobileye camera, and if that is the case how can it lane change more efficiently. But I would love an opportunity to go back to say a 2017. XX version and compare to where it is today just for my own sanity.