Well, the frequency of AD "NAG" has definitively increased with 7.1 The most annoying issue with the nag is that it overlaps/silences the audio of whatever you are listening to (Audiobooks, news, NPR...) For some reason, it always mutes the key phrase within the broadcast (lost forever) or makes you have to rewind the audiobook (actually introducing a risk factor by forcing you to take your eyes from the road and into whatever action /device you are using to rewind a few seconds) If the suits and lawyers from tesla got neutered between 7.0 and 7.1 then at least they should find a way to not harass and make their customer commutes an unpleasant experience. So Tesla, here are a few suggestions (in order of intrusiveness): 1. Gentle "ding sound" with the warning without SILENCING the audio your are listening to. 2. Gentle vibrating sound like the one created by driving over lines. 3. Electric shock through the seat. 4. Impalement. But please, don't mute the sound system. P.S Looking forward for Tesla to grow a pair again.