I just returned from a service visit. The closest service center is about 3 hours away. So, 6 hours of drive time and the 5 hours that they kept my vehicle didn't clear up my problem. I am getting a random error message that occurs after leaving your lane. The message states "Autopilot safety/convenience features unavailable may return on next drive" it does trigger a fault. So, service cannot figure out the cause. They reloaded the firmware. Buy, 3 hours after leaving the service center the error message returned. The error message shows up under the car on the screen. It goes away when the vehicle is put in park. Has anyone experienced this same problem.