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GPS in Heads Up Mode

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I'm assuming you're talking about this? Maybe change it to heading up before Starting navigation
 
If you have the navigation expanded so you see the turn-by-turn list down the left side of the map (which Tesla calls "overview"), then the map orientation is always shown as north.

If you want the map to be oriented in the direction you are heading, the list is collapsed and you only see the next turn shown.

There does not appear to be a way to be in both "overview" mode and "heading" mode.