There have been lawsuits. I'm unable to find the actual documents, but this article [0] reports on it and has some unbelievable quotes in it.

> Lin rejected Tesla's argument that LoSavio should have known earlier. "Although Tesla contends that it should have been obvious to LoSavio that his car needed lidar to self-drive and that his car did not have it, LoSavio plausibly alleges that he reasonably believed Tesla's claims that it could achieve self-driving with the car's existing hardware and that, if he diligently brought his car in for the required updates, the car would soon achieve the promised results," Lin wrote.

EDIT: found the court document; the quote is in the last paragraph on page 5: https://regmedia.co.uk/2024/05/16/teslaamendedcomplaint.pdf

[0] https://arstechnica.com/tech-policy/2024/05/tesla-must-face-...