after a year of babying my car, it finally took its first whack in a parking lot. The hit, although seemingly far away from the sensor, made parking assist disabled. Certified Tesla body shop says 6 months to fix, and Tesla can’t look at it without double dipping insurance. So as a PSA here’s what happens to autopilot when your sensors are out: car stays centered in the lanes - dead center in fact , but lane change is gone. Barriers also go unseen. No summon and no park assist. On the plus side there’s no crazy beeping when I pull into the garage lol. Looks like I’ll have limited function for 6 or more months while I wait for the parts to come in, then who knows how long to fix, So I’ll be living vicariously through everyone on here getting updates that improves auto pilot well mine hangs out at 50% capability LOL.
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How comfortable are you getting your hands a little dirty and doing a little temporary DYI repair? You could take the rear bumper cover off and see what happened. It doesn't even look like the damage is at the sensor. If the shop is saying they need they need the harness, it's just wiring, probably can be spliced together while you wait the 6 months. It takes about 15 minutes to drop the rear bumper cover (ok, the first time I did that it probably took closer to an hour, but that's because I was going really carefully as I am not a car mechanic, that and one of the screws in the wheel well took me over 15 minutes to locate, while I unscrewed a wrong screw at first). Who knows, maybe the harness just disconnected due to the collision? Maybe a wire is torn and could be spliced back. Below is what my car looked like when I took the bumper off to install a rear radar detector antenna under the bumper skin. It really helps to have the little ramps to drive onto to access the bolts under the car. Check out Model S tow-hook installation videos or how-to instructions online which describe the procedure of taking off the bumper skin (that's what I did the first time around, once I did it once though I could do it again without any instructions). Disclaimer: Attempt at your own risk, don't if you don't think you can put it back together, not feeling comfortable with it, or don't know how to do it safely (crawling under a 4500lb has to be done safely). Also consider the risk that there might be more damage under there making it hard to put back together.
PS> The sensor harness connects on the right side of the car, near the wheel well. I once forgot to connect it back and was able connected it only partially peeling the bumper skin or the wheel well lining off (don't remember exactly, but I didn't have to remove the entire bumper to do it.
PS2> If you have one of those inspection cameras on an end of a flex tube that you could stick in there, you can get access to stick one of those under the bumper from the wheel well and at least take a look. Way harder to manipulate and see things that way but you could do it by removing only a couple of clips in the wheel well instead of the entire bumper.