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Tesla Hackers Find ‘Unpatchable’ Jailbreak to Unlock Paid Features for Free
(www.thedrive.com)
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Insurance would have to prove the modification caused the accident by disabiling some safety mechanism.
Legally, software mods and hardware mods are no different, and people have been modifying their cars well before you could hack a seat heater on.
Modifying your car isn't a valid reason to yank coverage in most circumstances.
Even making your car faster isn't enough, assuming your mods are street legal.