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Update With No Updates?

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So...I received the latest software update (20.4.2) a couple of weeks ago like everyone else. I noticed that with this update my autopilot noticeably hugged the left side of the lane when it hadn't before. Today I noticed that it was back smack dab in the middle of the lane, solid as a rock. I did not receive any additional updates (that I am aware of).

My question is, do our cars receive updates that are implemented without our knowledge or notification? They seem to improve on their own but this must come from the mother ship in one way or another, right? How does this work?

Dan