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Maybe a dumb question, but the manual says "Note _ Slip Start and Off-Road Assist are not available when you are actively using Autopilot." Were you looking at those options while driving in autopilot?
I've been thinking Alan, maybe I have had some of the autopilot features always on (in the background) like collision avoidance assist. When I answered above I was thinking of cruise control. I'll check it out. Thank you.
We use Off Road assist every day when the roads are icy and snowy. Yes, it is grayed out until you put your foot on the brake before you put the car in drive. Once on, you can turn it off and on while you drive.