Recall 23V085 affects 362,758 2016-2023 Tesla Model S, Model X, Model 3 and Model Y vehicles for FSD Beta errors. Tesla's OTA update is free.
Tesla is recalling 362,758 2016-2023 Model S, Model X, Model 3, and Model Y vehicles with Full Self-Driving Beta software or pending installation. The software can let the vehicle exceed speed limits or move through intersections in an unlawful or unpredictable way, which increases crash risk, and Tesla provides the repair free of charge.
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What's wrong?
The recalled part is the vehicle software that runs Tesla's Full Self-Driving Beta, including Autosteer on City Streets. On affected 2016-2023 Model S, Model X, Model 3, and Model Y vehicles, that software helps control steering and speed during certain city-street driving tasks. The driver still has to watch the road and intervene when the vehicle's path or speed is wrong.
The defect is in how the software handles certain traffic situations before the driver steps in. It can travel straight from a turn-only lane, enter a stop sign-controlled intersection without a complete stop, or proceed through a steady yellow light without enough caution. It can also respond poorly to posted speed-limit changes or to a driver's speed adjustment above the posted limit.
What you notice comes from watching the vehicle and the road, with or without a system warning. If the car's movement does not match the lane, signal, stop sign, posted speed, or traffic around you, take control right away.
Who's affected?
Spans Model S, Model 3, Model X, and Model Y vehicles across the 2016-2023 model years, all tied to the same FSD Beta vehicle software.
| 2016 Tesla Model X | steering system |
|---|---|
| 2016 Tesla Model S | steering system |
| 2017 Tesla Model S | steering system |
| 2017 Tesla Model X | steering system |
| 2017 Tesla Model 3 | steering system |
| 2018 Tesla Model S | steering system |
| 2018 Tesla Model X | steering system |
| 2018 Tesla Model 3 | steering system |
| 2019 Tesla Model S | steering system |
| 2019 Tesla Model X | steering system |
| 2019 Tesla Model 3 | steering system |
| 2020 Tesla Model 3 | steering system |
| 2020 Tesla Model X | steering system |
| 2020 Tesla Model Y | steering system |
| 2020 Tesla Model S | steering system |
| 2021 Tesla Model S | steering system |
| 2021 Tesla Model Y | steering system |
| 2021 Tesla Model 3 | steering system |
| 2021 Tesla Model X | steering system |
| 2022 Tesla Model Y | steering system |
| 2022 Tesla Model 3 | steering system |
| 2022 Tesla Model S | steering system |
| 2022 Tesla Model X | steering system |
| 2023 Tesla Model 3 | steering system |
| 2023 Tesla Model X | steering system |
| 2023 Tesla Model Y | steering system |
| 2023 Tesla Model S | steering system |
| Units affected | 362,758 |
| Field incidents | NHTSA has logged 18 field incidents to date. |
The year and model narrow the scope, but the VIN decides. Check your VIN to confirm whether your specific vehicle is included.
What's the safety risk?
FSD Beta software can let the vehicle exceed speed limits or move through intersections unlawfully or unpredictably, which increases crash risk. Stay ready to steer, brake, or take over when the vehicle's path, speed, or response does not match traffic laws or road conditions. Repair is free at any franchised Tesla dealer.
What should I do?
- Check your VIN to confirm your 2016-2023 Tesla Model S, Model X, Model 3, or Model Y is included in this recall.
- Contact Tesla service to confirm the free over-the-air software update that corrects FSD Beta behavior around intersections and speed limits.
- Install the free Tesla over-the-air software update as soon as it appears in the vehicle or app.
- Reference recall number 23V085 and Tesla recall SB-23-00-001 if you call Tesla customer service.
- Avoid relying on FSD Beta at intersections or posted speed limit changes until the update is installed.
What happens at the repair
Tesla handles this recall through a free over-the-air software update, so the software remedy does not require a dealer visit. A Tesla service advisor can confirm that the update installed and that the vehicle is running the corrected Full Self-Driving Beta software. The update changes how the system behaves around intersections, stop signs, traffic signals, and posted speed limits. Out-of-pocket repairs already paid are handled through the existing warranty, not through a separate reimbursement program, because Tesla reported no out-of-warranty repairs tied to these conditions.
| Reimbursement | Warranty coverage applies |
|---|
Timeline
| February 15, 2023 | NHTSA published the recall |
|---|---|
| February 16, 2023 | Dealer notification began |
| February 16, 2023 | Dealer notification ended |
| April 15, 2023 | Owner notification mailed |
| April 15, 2023 | VIN-searchable in NHTSA's database — Check your VIN to see whether this recall applies to your specific vehicle. |
| April 15, 2023 | Interim owner notification (was planned for this date) |
Frequently asked questions
What is recall 23V085?
Recall 23V085 covers 362,758 2016-2023 Tesla Model S, Model X, Model 3, and Model Y vehicles equipped with Full Self-Driving Beta software or pending installation. The software can allow unsafe behavior around intersections or speed limits, increasing crash risk. Tesla released a free over-the-air software update.
What should I do if my 2016-2023 Tesla Model S, Model X, Model 3, or Model Y is on this recall?
Check your VIN to confirm your specific vehicle is included in recall 23V085. If it is, make sure the free over-the-air software update has been installed. Contact Tesla customer service at 1-877-798-3752 and reference recall SB-23-00-001 if you need help.
Is the recall repair free?
Yes. Federal recall law requires the recall remedy to be provided at no cost, and Tesla's remedy for recall 23V085 is a free over-the-air software update. Parts and labor do not apply when the remedy is delivered through a software update.
What is the safety risk in recall 23V085?
The safety risk is increased crash risk from FSD Beta behavior around intersections and speed limits. The software can allow the vehicle to travel straight through a turn-only lane, enter a stop-sign intersection without a complete stop, proceed during a steady yellow signal without due caution, or exceed posted limits.
When were owners notified about recall 23V085?
Tesla mailed owner notification letters on April 15, 2023. The remedy is available as a free over-the-air software update, so affected owners should confirm the update is installed and contact Tesla customer service if the vehicle still shows an open recall.
More information
| NHTSA campaign page | nhtsa.gov/vehicle-recalls/23V085000 |
|---|---|
| Tesla customer service | 1-877-798-3752 |
| NHTSA recall # | 23V085 |
| NHTSA recall # (full) | 23V085000 |
Source documents
-
Download Quarterly Report (PDF) - Download Owner Notification Letter (PDF)
- Download Recall Document (PDF) (PDF)
- Download Recall Investigation Document (PDF) (PDF)
- Download Recall Report (PDF)
- Download Misc. Document (PDF)
- Download Recall Acknowledgement (PDF)
This article is generated from NHTSA's primary recall filings and reviewed against the source on May 20, 2026. RecallNotify does not paraphrase NHTSA's consequence language; that text is reproduced as written above. Editorial standards →