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Autopilot - what am I doing wrong ?

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I received my MY about 3-4 weeks ago. When I first got it, the autopilot steering wheel icon would turn blue and I could engage it.

recently I have tried to use it on well marked city streets and a well marked highway, neither time I could get the autopilot to activate (icon on display not blue)

Am I missing something here ?
 
Before you pull the right lever down when in those well marked street - was the steering wheel icon grayed out but present?

If AP can't be activated - did it notify you?
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