2023 is better than 2020. 2026 is not necessarily better than 2023. Shifting speeds abruptly in the modern FSD notwithstanding, what happened especially for people with HW 2.5/3 (circa 2018/19) is the change in behavior of adaptive cruise control and FSD -- you can go look it up. Essentially they "removed" a useful feature that let the car seemlesly move between the two -- I think because they didn't want to support the drivers "stalk" on the steering wheel anymore - new Teslas don't have it. So basically for me, SDV is not all that it's cracked up to be -- yeah and all that privacy stuff too...