The ADS systems, which had versions released prior to Dec. 20, may inaccurately predict the movement of a towed vehicle, according to the agency.
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Waymo has updated the software free of charge and all affected vehicles were repaired by Jan. 12, the NHTSA said.
The agency said electric automaker Lucid Group recalled 189 of its Air vehicles to fix a software issue that could have resulted in loss of drive power.
The NHTSA said Lucid released an over-the-air update in October 2023 to fix the issue.
Waymo and Lucid did not respond to Reuters requests for comment.