Ask HN: Is Tesla actually using customer data for training?

I've read many times something along the lines of "Tesla has an advantage in autonomous cars because they have the data of thousands of customers, which implies millions of miles".

However, I can't find any source detailing whether Tesla is actually using customer data for training (and not only for debugging).

If so, where does the computation happen? Locally? Then, are Tesla chips ready for training? Did they mention that when unveiling FSD hardware)? How do they sync/integrate/debug that data/training? Otherwise, if the training is done at Tesla, how they transfer gigabytes of data?

Also, wouldn't that be a perfect case for imitation learning?

And is it legal to use customer data that way?

Is it possible that FSD is "secretly" ready for training?

Thanks!