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Smart Summon navigating 3 stories underground

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If there is no GPS signal, how would the car know it is greater than 66 ft away?

The GPS isn't needed for distance travelled... The odometer and other sensors in the vehicle are easily able to relay distance travelled to whatever process needs it. They don't rely on the GPS.

In the Model X, if you pass under an obstacle or entry way (like a garage or low overhang), the falcon wing doors won't open fully unless you've travelled a certain distance beyond them when you've cleared them. All without GPS.