We took delivery of our 90D in December 2016 and had hand controls installed last week. These are mechanical hand controls that are mounted to the steering column and at the back of the brake and accelerator pedals. For those who may not know, you push the handle forward towards the dash to brake and down towards the floor to accelerate. The manufacturer of the hand controls did not have a bracket that fit the current Model S steering column, so our installer had to make one. Luckily, he didn't need to cut into the dash to mount the controls, although he did need to remove the driver's knee airbag. We also lost the ability to tilt or telescope the steering wheel. Unfortunately, we were not able to have any grab bars installed. We were told that there are too many wires in the door frames and there is no easy way to mount them. It's a big deal for us, because my husband can't stand or walk. The grab bars in other cars make it easier for him to transfer from his wheelchair to the car seat. We tested out the driver's side at the Tesla showroom and it was okay (he can use the steering wheel to help). We neglected to try the passenger's side, which, it turns out, is pretty hard to do. While I know they are not aesthetically pleasing, I'm hoping that Tesla will make grab bars an option in the future. We knew what we were getting and are very happy with the car, it just would have been nice to be able to make it more accessible.