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Refreshed S - auto park is unavailable

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About 30% of the time when I start driving the car it’ll say “park assist unavailable” and “FSD features may be restored on next drive”.

Is this happening to anyone else? Is this an issue with the car itself or do we just need to wait for a firmware update?
 
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Venom, do a Camera Recalibration and see if that makes any difference. Of course, on the Plaid, it could be a software feature not yet fully implemented. 2021.36.5.1 Tesla released today has a major autopark update. I am not sure on the FSD message, but camera alignment could cause this.