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To Replace headlight need to be reprogram?

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Which bulb? And I think everything is Leds anyway. All the ones I've replaced have been no problem - just change them and they're fine.
Is not the bulb is the entire headlight itself
 

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You can just replace it but it will blink faster than the other headlight. The car needs to perform an update (might need to do it a few times) in order for them to sync up. You can wait until a normal update (if the car still gets them) or try to have Tesla push an update to it.