Tesla settled a class action lawsuit this week with owners of its Model S sedans and Model X SUVs who alleged the company’s semi-autonomous driver assist system was “essentially unusable and demonstrably dangerous.” As part of the deal, Tesla has agreed to partially reimburse people who bought vehicles with Enhanced Autopilot over the long delays in rolling out its promised features.

The deal, which was filed in San Jose federal court late Thursday, still has to be approved by US District Judge Beth Labson Freeman. It was being closely watched by legal and auto analysts, as it was the only class action lawsuit against Tesla over its sophisticated and controversial Autopilot system.

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