Tesla's 'Full-Self-driving' beta test has an 'Assertive' mode that may illegally perform rolling stops. Rolling stops are generally considered illegal under US law.

Assertive mode enables Tesla vehicles to travel through all-way stop intersections at speeds up to 5.6 mph without coming to a complete stop, provided certain conditions are met.

It is one of three 'profiles' - 'Chill', 'Average' and 'Assertive' - that dictates how a car will behave in certain circumstances.

Assertive was included in Tesla's October 2021 10.3.1 update. The previous update had been pulled two days after testers complained about false crash warnings and other bugs.

Following meetings with the National Highway Traffic Safety Administration, Tesla recalled (pdf) all 53,822 Model S, X, 3 and Y vehicles with the FSD feature and said it would disable the rolling stop function.