Please elaborate on this a bit ... my opinion to not skip 16.2 was based on the presumption that AP should be improved on the motorway compared to 12.1.2 but if it is actually worse I may reconsider.
PS: Hmmn, it seems other S/X drivers in Europe are giving the same warnings as Siggy101 and fmonera:
EU S X users, think twice before updating to 2019.16.2, autopilot is more limited : teslamotors
In this case I think it's the UN we must blame:
https://www.unece.org/fileadmin/DAM/trans/main/wp29/wp29regs/2017/R079r3e.pdf
It's rather hard to describe well but let me have a go:
After installing 2019.16.2, I took a drive. The first 3 mins was on a city dual carriageway and all was good. I then turned right onto the on-ramp to the motorway. The on-ramp is a 270 degree spiral with a 40kph limit. The car (2018 MS 100D with AP2.5, EAP & FSD in Switzerland) was on EAP. It slowed for the initial turn in. It did not slow anything like enough and at about 60kph, it crossed the outer white line. I took over the steering and braked hard.
In the interests of the test, as soon as autosteer was available once more (about 90 degrees into the turn), I re-enabled. It did manage to make some more of the turn but slowed to around 25kph (in a 40....!). It then crossed the outer white line. As there was enough room, I allowed it to cross to see what it would do. After crossing the white line, it put a small yellow message on the bottom of the instrument cluster that said "Autosteer limit exceeded". It then gave up completely and I grabbed the wheel.
Another incident was when cresting a hill, just 250m after the on ramp curve described above.
Here there is a mild crest in the road. The sort that would have induced the old left swerve back in the day. At the crest, there is a very slight left bend. By very slight I mean about the equivalent of a very slow lane change. With EAP engaged, I let her crest the hill. She started to steer left but only about 25% of the input that was needed and far too late. Again, she crossed the outside white line, threw the same message and then I took over.
For reference, I have been able to drive both of these curves a hundred times in the past, no bother.
Until this is resolved, I will not be using autosteer on anything but dead straight motorway. It is dangerous and it is only a matter of time before we start seeing people going to the press about why "Autopilot crashed my car". I know that his will be utter tosh as we are all responsible at all times but to have such a strong regression from one version to the next is going to catch people out, BIG TIME.
You just can't have a driver assistance system that suddenly gives up control in the middle of a manoeuvre. By the very nature of when it is triggered, this is guaranteed to cause a crash in 100% of cases that it hits the limit without immediate driver input. The wheel straightens and the car heads directly towards the armco outside the curve.
I sincerely hope that Tesla can demonstrate to the authorities that their system is far more capable than the limitation in this regulation so they can successfully acquire an exemption.