it's probably a placebo effect, lol
I would imagine any improvements in autopilot would be a big thing to celebrate, rather than "minor improvements" as indicated on the screen. it's so minor, they don't even list any specs (only previous update descriptions).
brake/accel transitions is affected from regen braking adjustments. my passengers were getting carsick from standard, so i set it to low. after using it for awhile then going back to standard, even I can't stand the aggressive automatic braking. it's much more comfortable and worth whatever mileage lost from regenerative braking.
my app experience is unchanged with new firmware. summon still sucks (never had an issue with other stuff like horn, lock, lights)