FSDRadarEnhanced Autopilot (EAP) adds highway and parking features to basic Autopilot: Navigate on Autopilot, Auto Lane Change, Autopark, Summon and Smart Summon. FSD (Supervised) adds driving on city streets, including at traffic lights and stop signs. Both were one-time purchases that normally stay with the car.
Owners of EAP cars can add FSD (Supervised) for a reported $49 a month instead of $99. So an EAP car is worth a little more than a basic one if you want FSD, and a good deal less than a car with owned FSD.
The three tiers, side by side
| Feature | Basic Autopilot | Enhanced Autopilot | FSD (Supervised) |
|---|---|---|---|
| Traffic-Aware Cruise Control | Yes | Yes | Yes |
| Autosteer (lane keeping) | Yes, on cars sold from April 2019 to January 2026 | Yes | Yes |
| Navigate on Autopilot, Auto Lane Change | No | Yes | Yes |
| Autopark, Summon, Smart Summon | No | Yes | Yes |
| City streets, traffic lights and stop signs | No | No | Yes |
| After a private sale, if bought outright | Part of the car | Stays with the car | Stays with the car |
Feature list as Tesla sold EAP when it relaunched the package in 2022 (Electrek, June 24, 2022). Exact behaviour depends on the car's hardware and software version, and parking features have changed over the years on cars without ultrasonic sensors. All of these are driver-assistance features: the driver must stay attentive and ready to take over.
New cars changed in 2026. From January 2026, new Model 3 and Model Y orders in North America ship with Traffic-Aware Cruise Control only, without Autosteer (Electrek, January 23, 2026). That makes older used cars with Autosteer, EAP or owned FSD relatively better equipped than a brand-new base car.
When Tesla sold EAP, and which cars have it
Enhanced Autopilot came and went:
- Late 2016 to early 2019: EAP was the main paid tier, priced at $5,000 at order, with FSD as an extra option on top (Wikipedia, Tesla Autopilot). In 2019 Tesla made basic Autopilot standard and dropped EAP.
- June 2022 to April 2024: Tesla brought EAP back in the US for $6,000 (Electrek), then removed it again in April 2024 when it cut the FSD price to $8,000 (paultan.org, April 21, 2024).
So EAP cars are mostly 2017 to early 2019 and mid-2022 to early 2024 builds. Some owners bought EAP later in the app. A car from the first period started with HW2.0 or HW2.5, and Tesla's free computer upgrade was offered to owners who bought FSD, not EAP, so check the Autopilot computer line (see HW3 vs HW4 (AI4)).
In Tesla's own archived used-inventory data from 2020 to 2025, which we analysed, EAP was much rarer than FSD: 94 of 2,032 listings carried EAP, against 952 with FSD and 983 with basic Autopilot. EAP cars are a real but small slice of the market.
How to tell which tier a car has
- The car's screen: Controls > Software lists the included package. Look for the words "Enhanced Autopilot" or "Full Self-Driving Capability". If both appear, the car has FSD, which includes everything EAP does.
- The Tesla app: the seller's Upgrades screen shows what was purchased for the car, and any subscription on top.
- Option codes: in Tesla's data,
$APPBis "Enhanced Autopilot" and$APF1is the legacy Model S and X version;$APBSalone is basic Autopilot. See Tesla option codes for FSD. - Paperwork: a priced "Enhanced Autopilot" line on the order or window sticker.
The common mix-up: an EAP car with an FSD (Supervised) subscription shows FSD on the screen. The EAP is yours; the FSD subscription leaves with the seller. If a listing says "FSD" and the car is a 2017 to 2019 or 2022 to 2024 build, ask whether it is EAP plus a subscription. The signs are in FSD subscription vs purchased.
There is also the reverse case. Tesla offered EAP owners the chance to upgrade to FSD outright for $2,000 until February 14, 2026, according to Not a Tesla App. A car whose owner took that offer has owned FSD even though its original paperwork says Enhanced Autopilot. The app screenshot is how you find out.
Adding FSD to an EAP car
On January 29, 2026, Tesla cut the FSD (Supervised) subscription for EAP owners to $49 a month in the US and Canada, against $99 for everyone else (Not a Tesla App). We have not seen the $49 price on a Tesla support page, so confirm it in the Tesla app once the car is on your account: Upgrades > Software Upgrades shows the price offered for that car.
Two things to check before you count on it:
- Hardware. Tesla's subscription page says hardware upgrades are not included: "If you do not have the required Full Self-Driving computer, schedule your hardware installation" (Tesla support, FSD subscriptions; we read the Canadian copy, February 2026 capture). An EAP car still on HW2.5 needs a paid computer upgrade before the subscription works.
- Version. On an HW3 car the subscription brings the reduced "v14 Lite" version as of September 2026; AI4 cars get the main version.
Since February 14, 2026 there is no way to buy FSD outright from Tesla in the US, so the $49 subscription is the only upgrade path for an EAP car.
What EAP is worth, in numbers
Find My Electric, a used-Tesla marketplace, estimated in July 2026 that EAP adds about $500 to $1,200 to a used Tesla, against about $1,000 to $2,000 for FSD (Find My Electric, updated July 28, 2026). It does not publish its method, so treat both as informed estimates.
You can also price EAP by what it saves you. If you would subscribe to FSD (Supervised), here is what a year of it costs on each kind of car at today's prices:
| The car has | FSD cost per year | Over 3 years |
|---|---|---|
| Owned FSD | $0 | $0 |
| Enhanced Autopilot, plus a $49 subscription | $588 | $1,764 |
| Basic Autopilot, plus a $99 subscription | $1,188 | $3,564 |
So against a basic car, EAP saves $50 a month in the months you subscribe, and you get the EAP highway and parking features in the other months. Against an owned-FSD car, EAP still costs you $49 in every month you want FSD. The break-even method for comparing two real cars is in How much is FSD worth on a used Tesla?
If you never plan to subscribe, value EAP for its own features: some drivers use Navigate on Autopilot and Summon a lot, others never touch them. Try them on the test drive.
Questions buyers ask
What is the difference between Enhanced Autopilot and FSD?
Enhanced Autopilot adds Navigate on Autopilot, Auto Lane Change, Autopark, Summon and Smart Summon to basic Autopilot. FSD (Supervised) includes all of that and adds driving on city streets, including at traffic lights and stop signs. Both require an attentive driver.
Does Enhanced Autopilot transfer to a new owner?
Purchased Enhanced Autopilot is part of the car and normally stays with it in a private sale, like purchased FSD. Tesla has removed paid software from some cars it resold itself, so check the car's Software screen before and after you buy.
Can I upgrade a used Tesla from Enhanced Autopilot to FSD?
Not outright: Tesla stopped one-time FSD purchases in the US on February 14, 2026. Owners of EAP cars can subscribe to FSD (Supervised) for a reported $49 a month, if the car has the required computer.
FSD Radar is independent and not affiliated with Tesla, Inc. Facts in this guide are dated where they change often; we re-check Tesla's support pages regularly. Spotted something out of date? Email info@fsdradar.com.