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Are there release notes for firmware upgrades?

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I presume that's after installation? I kinda would like to look before installation....
Tesla does not want you to know. They don't even want you to know the version you are upgrading to so they consciously hide it (in other words the upgrade dialog has a "version" field display, but it's hidden unless you enable developer mode.

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After most releases, the release notes (displayed after installation) usually indicates the release contains only minor improvements or bug fixes or the notes just repeat what was listed for the last release with functionality changes.

Displaying information about a release PRIOR to installation is a long standing request - and hopefully Tesla will provide this either on the console display or in the smartphone app.

And, while software companies usually don't want to admit they've fixed any problems in a release, especially with software that is related to the operations of the vehicle (like AutoPilot), Tesla really should list even the minor improvements and any bug fixes included in a release so that drivers are aware of how the vehicle's software has changed.

And Tesla should list those areas where they are aware there are issues - especially in AutoPilot - where the driver should exercise caution.

nVidia provides extensive release notes in each of their graphics driver updates - listing the new features, minor functionality and bugs that were fixed in the release, while also providing a list of the known significant bugs that remain to be addressed.

Tesla can do better - though addressing these issues are likely a lower priority for Tesla right now (than adding more arcade games...).