2017 Tesla Model S lane departure problems

On 3 occasions, vehicle made sudden, spontaneous attempts to make a left lane change. On two occasions the vehicle was in self drive mode on a freeway; on the 1st occasion, the vehicle was in the left lane and hit a guard rail; on the 3rd occasion the vehicle was stopped at a red light when it suddenly accelerated, turned sharply left and ran up an embankment into trees and bushes, sustaining substantial damage.

My tesla is experiencing the mcu problems outlined in NHTSA ea20-003 from 13 jan 21 and prior. While in motion, on city streets and highways, and regardless of speed, my vehicle's mcu will spontaneously and at random intervals freeze. This results in loss of heat/cooling, front and rear defrosters, infotainment/gps, adas safety features and convenience, all cameras including backup camera, and turn signal audio indicators.