Yesterday I updated to the latest firmware (I think) of 7.1 (2.17.37) and it seems to have almost perfected the autopilot experience. As I mentioned in an earlier post, my previous update (the MarioKart rainbow road one), they had improved autopilot driving where the car was now near dead center of the lane when driving (versus previous right side bias). However I was still having issues with when I was use the turn signal to go into an adjacent lane (the car would often overshoot and encroach in the lane beyond the one I was going into (which made for some nervous encounters when almost playing bumper cars with a vehicle in the lane originally 2 lanes over). Well I got the update and the car has behaved perfectly and I would say pretty much now drives the way I would drive it myself. Another thing I have noticed, and I am hoping it is true, is that the nag feature has diminished considerably. Yesterday I drove home without my hands on the steering wheel the entire time on the highway (about 25 miles) and all I used was the turn signal to switch lanes. I'm hoping that the Tesla engineers have figured that if I am using the turn signal it means that I am paying attention to the road and it resets the internal nag clock. Today on my drive to work same thing, went the majority of the time without nagging, and only had one "hands on wheel" notice occur near end of commute when I happened to have been in the same lane for a long time without using the turn signal. Prior to this update, would expect at least 5 or more nags if I drove the way I did. It is so much more pleasant to drive with Autopilot with just a hand near the turn signal (I term it turn signal driving) and using the indicator to switch lanes without having to periodically put hands on wheel to avoid the nagging.