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Cruise Control Not Working

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Did you purchase or subscribe to FSD or get the free trial? Either, you can disable FSD under Controls > Autopilot to get TACC back. You can’t use them both at the same time.

This is not a Y-specific topic, and has been widely discussed here and elsewhere.
 
Not on my X while in FSD MODE
I’d have to pull over park car and switch to auto steer
You can switch to autosteer without stopping.

Selecting FSD requires car in park.

Switching between two driver profiles, one with FSD and one without can be done without stopping and as many times as you want during a drive (but has other issues like interrupting your music app, or changing the HVAC settings to what they were the last time you drove under that profile.)