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Tesla will be recalling 53,822 vehicles that have its Full Self-Driving (Beta) software because the programming allows the cars to do a rolling stop, and not come to a complete stop when required to do so.

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The National Highway Traffic Safety Administration said the recall involves select 2016-2022 Model S, 2016-2022 Model X, 2017-2022 Model 3 and 2020-2022 Model Y, Reuters reported.

Tesla will push out a software update disabling the rolling stop functionality, after meeting twice with federal officials, The Associated Press reported.

A few thousand Tesla vehicles had the software installed in September but recently nearly 60,000 vehicles received the update as of last week.

The software update that allowed for a rolling stop was released in October and required the car to be traveling below 5.6 mph with no moving cars, pedestrians or bicyclists near the intersection.

According to an NHTSA filing, the software is required to be enabled by the driver.

However, despite the software, many state laws require cars to come to a complete stop.

While the software is called Full Self-Driving, Tesla said it does not make a vehicle fully autonomous, Reuters reported. Drivers also must be ready to take control of the vehicle at any time, the AP reported.

The software fix will be deployed this month, the AP reported.