I drove 900 miles in 2 days. During the first day, it restarted after a couple hours. I was streaming audio. Both screens went blank, but AP continued to drive and steer the car and maintain the speed. Just a little unnerving not having any display. The second morning it did it again after a couple hours, and today just after 15-20 minutes of driving, playing music over BT. I am on 2021.4.15.