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I'd be more concerned about insurance being voided due to an undeclared modification to the vehicle.

In the UK any third-parties will still be compensated, but the first-party will get nothing and will struggle to get car insurance in the future.

Does Comma.AI require modifications to the vehicle? I thought it just plugged in to the CAN bus or diagnostics port.

Any competent court would find that is a modification to the prescribed operation of the vehicle.