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We have been waiting 4 years for FSD on our Model S and the beta arrived last night. When I set the switch the explanation box appears but I can't press Yes. Pressing No works to take me back as expected.
Can you please provide more info? A picture of the screen you're getting this message on would be helpful. There's check box you need to click after turning FSD bets on, make sure you're clicking that or you won't be able to turn it on.
You need to check the consent box proving you read the terms which you ALSO need to do and then the Yes button will be enabled. Is this your first (software) rodeo?