Tesla is recalling over 2 million vehicles due to a defective system in its Autopilot feature. The National Highway Traffic Safety Administration conducted a two-year investigation, finding that Autopilot’s method of ensuring driver attention can be inadequate, leading to misuse.

The recall covers nearly all U.S. Tesla models sold from 2012 to 2023, with a software update providing additional controls and alerts. The update limits Autosteer use, alerting drivers if conditions aren’t met.

Auto safety advocates have long called for stronger driver monitoring. Tesla, while disagreeing with the analysis, agreed to the recall to resolve the investigation. NHTSA continues to monitor Tesla’s remedies for safety.