Are you making sure you start the car in the allowed time after you enter it? Said another way, do you have a routine where you open one of the vehicle doors, perhaps help a child get into a car seat or put a bag in trunk, etc, then get in the drivers seat and try to start the car?
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Drive Disabled - Requires Authentication
If Model 3 does not detect a key when you press the brake (a key fob or phone key is not detected or two minutes have passed since you used the key card), the touchscreen displays a message telling you that driving requires authentication.
If you see this message, place the key card behind the cup holders where the RFID transmitter can read it. The two-minute authentication period restarts and you can start Model 3 by pressing the brake pedal.