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have an update waiting but it says connect to wifi?

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Normally, Firmware and Navigation (ca 7GB) updates come by Wifi. Emergency (safety) updates also by cellular.

If a car is almost never on Wifi firmware updates (also non emergency) cellulair can be used. I have one friend, no wifi, gets updates even faster than I get them (always on wifi at home).
 
Updates will come, but generally much slower if you don't use a WiFi Connection. The car is "encouraging" you to connect to WiFi, before Tesla has to pay for the large data download transmission over the cellular connection. It is trying to shame you through aggravating pop ups.:)
 
I have a similar question from the UK. The app says Software Update - Connect to wi-fi to download. How do I do that? Park right outside my study window so that it is close to the router? Or is there a much simpler explanation
 
Page 156 in my owners manual:
Wi-Fi is available as a data connection method
and is often faster than cellular data networks.
Connecting to Wi-Fi is especially useful in
areas with limited or no cellular connectivity.
To ensure fast, reliable delivery of software
and map updates, Tesla recommends leaving
your vehicle connected to a Wi-Fi network
whenever possible (for example, if parked in
your garage overnight).
To connect to a Wi-Fi network:
1. Touch the cellular icon (usually LTE or 3G)
on the top corner of your touchscreen.
Model S will start scanning and display the
detected Wi-Fi networks that are within
range.
2. Select the Wi-Fi network you want to use,
enter the password (if necessary), then
touch Confirm.
3. Your vehicle connects to the Wi-Fi
network and will automatically connect to
it whenever the network is within range.
You can also connect to a hidden network that
isn't shown on the list of scanned networks.
Just touch Wi-Fi Settings, enter the name of
the network in the resulting dialog box, select
the security setting, then touch Add Network.
Note: If more than one previously connected
network is within range, Model S connects to
the one most recently used.
Note: You can also use a mobile hotspot or
your phone's Internet connection via Wi-Fi
tethering (subject to fees and restrictions of
your mobile carrier).
Note: At Tesla Service Centers, Model S
automatically connects to the Tesla Service
Wi-Fi network.