2021-2023 Tesla Model S Automated Recall (23V085)

Recall 23V085 at a glance

What is wrong with the 2021-2023 Tesla Model S in recall 23V085?

 The FSD Beta system may allow the vehicle to act unsafe around intersections, such as traveling straight through an intersection while in a turn-only lane, entering a stop sign-controlled intersection without coming to a complete stop, or proceeding into an intersection during a steady yellow traffic signal without due caution.

Tesla, Inc. (Tesla) is recalling certain 2016-2023 Model S, Model X, 2017-2023 Model 3, and 2020-2023 Model Y vehicles equipped with Full Self-Driving Beta (FSD Beta) software or pending installation. The FSD Beta system may allow the vehicle to act unsafe around intersections, such as traveling straight through an intersection while in a turn-only lane, entering a stop sign-controlled intersection without coming to a complete stop, or proceeding into an intersection during a steady yellow traffic signal without due caution. In addition, the system may respond insufficiently to changes in posted speed limits or not adequately account for the driver's adjustment of the vehicle's speed to exceed posted speed limits.

Is it safe to drive a 2021-2023 Model S with recall 23V085?

NHTSA has not told owners to stop driving, but the risk is real: FSD Beta software that allows a vehicle to exceed speed limits or travel through intersections in an unlawful or unpredictable manner increases the risk of a crash.

NHTSA describes the risk this way: FSD Beta software that allows a vehicle to exceed speed limits or travel through intersections in an unlawful or unpredictable manner increases the risk of a crash.

There is no do-not-drive order on this campaign. If your Model S shows warning lights or behaves differently in a way that involves the automated and adaptive steering, have it checked before driving further.

Which vehicles are included in recall 23V085?

Recall 23V085 covers 362,758 vehicles: 2021-2023 Tesla Model 3; 2021-2023 Tesla Model S; 2021-2023 Tesla Model X; 2021-2023 Tesla Model Y.

NHTSA lists 362,758 vehicles in this campaign. Not every vehicle of these models and years is included, so check your VIN.

What is the fix for the Model S automated recall?

Yes. The fix is an over-the-air software update.

Tesla will release an over-the-air (OTA) software update, free of charge. Owner notification letters were mailed April 15, 2023. Owners may contact Tesla customer service at 1-877-798-3752. Tesla's number for this recall is SB-23-00-001.

When was recall 23V085 announced?

Tesla, Inc. reported recall 23V085 to NHTSA on February 15, 2023. NHTSA lists the owner letter date as April 15, 2023.

This recall was filed 44 months ago. If your Model S was built in that window, the VIN check below is the way to confirm it is included.

How do I check if my Model S is part of recall 23V085?

Enter your 17-character VIN at nhtsa.gov/recalls. If recall 23V085 is open on your Model S, it will be listed there.

Enter your 17-character VIN at NHTSA’s recall lookup. It shows any open safety recall on your vehicle, including 23V085000. Your VIN is on the registration card, the insurance card, and the driver side of the dashboard where it meets the windshield. Recent recalls can take a few days to appear in the lookup.

What should Model S owners do about recall 23V085?

Check your VIN, schedule the free recall repair, and keep a repair order for every dealer visit.

1. Check your VIN at nhtsa.gov/recalls to confirm recall 23V085000 applies to your Model S.
2. Call a Tesla dealer and schedule the recall repair. Ask how long the repair takes and whether parts are in stock.
3. Keep a copy of every repair order. Check that each one lists your complaint, the mileage, and the dates in and out.
4. Keep a simple log of any automated and adaptive steering symptoms with dates and mileage. Video of a warning light or the problem happening is strong evidence.
5. Count the days the vehicle is at the dealer. Days out of service add up toward California's 30-day presumption.
6. If the recall repair does not fix it, or the vehicle keeps going back for the same issue, talk to a lemon law attorney.

What are Model S owners reporting to NHTSA?

Owners have filed 5,758 complaints with NHTSA about these vehicles since 2020, 682 of them about the steering.

NHTSA’s public complaint database lists 5,758 owner complaints filed since 2020 for the vehicles in this recall, and 682 of them involve the steering. Complaints are reports from owners and have not been verified by NHTSA, but a high count for the same component is a sign the problem is widespread.

• 2023 Tesla Model Y: 1,166 complaints in total, 211 about the steering
• 2021 Tesla Model Y: 1,079 complaints in total, 93 about the steering
• 2022 Tesla Model Y: 865 complaints in total, 58 about the steering
• 2022 Tesla Model 3: 765 complaints in total, 36 about the steering
• 2021 Tesla Model 3: 664 complaints in total, 26 about the steering
• 2023 Tesla Model 3: 427 complaints in total, 86 about the steering
• 2023 Tesla Model X: 194 complaints in total, 46 about the steering
• 2021 Tesla Model S: 179 complaints in total, 29 about the steering

Here is what some owners told NHTSA, in their own words (excerpts, unverified):

4 months after warranty and only 42,774 miles, I am being hit with a massive bill of almost $2,700 from Tesla service in Lyndhurst, OH. This to correct right and left front end basic suspension issues that should not occur. Clearly the front end is not designed to handle the weight of car.

2021 Tesla Model S owner, OH, NHTSA complaint 11660683, filed May 13, 2025

The wrap on the steering yoke is peeling, already had a steering yoke replacement 18 months ago under warranty, and this replacement steering yoke exibiting same peeling issue. Could be a safety grip issue as the yoke portion is more slippery at the peeled section.

2021 Tesla Model S owner, IL, NHTSA complaint 11680563, filed August 14, 2025

On October 17, 2025, while using Full Self-Driving (FSD) mode on my 2021 Tesla Model S Plaid, the car failed to stop at two red lights within a three-hour period. In each case, the car attempted to drive through the intersection even though the signal was solid red.

2021 Tesla Model S owner, IL, NHTSA complaint 11694506, filed October 20, 2025

Can recall 23V085 make my Model S a lemon in California?

Not by itself. A recall repair that fails, or repeat dealer visits for the same defect, can support a California lemon law claim.

A recall by itself does not make a car a lemon. Under California's Song-Beverly Consumer Warranty Act, what matters is whether a defect covered by the warranty substantially impairs the vehicle's use, value or safety, and whether the manufacturer or its dealers fixed it within a reasonable number of attempts (Civ. Code 1793.2(d)).

Steering defects go straight to safety. Under California's lemon law, a defect likely to cause death or serious injury can create a presumption after just two repair attempts, if the manufacturer was also notified directly.

This recall is handled by an over-the-air software update, so many owners never visit a dealer. If the problem returns after the update, take the 2021-2023 Tesla Model S to the dealer and make sure the visit is written up on a repair order. An update that does not work is still a failed repair.

Earlier campaigns on these vehicles involving the same component: 22V037000.

Civil Code 1793.22(b) sets out a presumption that applies in the first 18 months or 18,000 miles: two or more repair attempts for a defect likely to cause death or serious bodily injury, four or more attempts for the same defect, or more than 30 total days out of service for repairs. Written notice to the manufacturer is required in some cases. Owners outside that window can still have a claim.

An owner who prevails in a lemon law case can recover reasonable attorney fees and costs from the manufacturer (Civ. Code 1794(d)). You pay nothing, win or lose. We are paid only if you win, and the manufacturer pays our fees, including in settlements. If a case is lost, our firm covers the costs.

Frequently asked questions about recall 23V085