HW3 and FSD version 14.1 just came a few days ago. Once again it has improved slightly around the edges. I rarely have camera occluded problems, maybe every 6 months? I have had it shut down in a pounding rain about a month ago. My most common reason to take over now is that I decided to take an alternate route or make a stop. They are also starting to address the “where to park” problem with v.14