It does have some modifications but it is still V11 Occupancy Network and not end to end NNs like V12. I hope Tesla is training V12 for highways and it comes in the next update (12.4.x) or so. But it also could be a while and maybe until V13.x. Also just to add we need parking lots/ASS/Banish added to V12.It was a vehicle support representative on the 800 national support line. The highway "stack" currently has significantly different behaviors from 11.4.9.