The company recalled two million vehicles after federal officials said it had not done enough to make sure that drivers remained attentive when using the system.
But this recall is the largest yet, including nearly all the cars that Tesla has manufactured in the United States since 2012.
Tesla said it planned to automatically update its vehicles via cellular networks to add more prominent features that would prompt drivers to keep their hands on the wheel and pay attention to the road reminders that the cars do not drive themselves, as some Tesla owners erroneously assume.
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