Add FSD to a Rivian R1T? Here's what works
Tesla's FSD stays on Teslas. But your R1T can steer itself and follow traffic with one device plugged in behind the mirror.
Yes. Your R1T is on comma's list.
comma lists the 2022–2024 R1T. Every trim qualifies. openpilot controls the gas and brakes too. Steering works all the way down to a stop.
Steers itself in the lane
Continuous centring on highways and most roads, not a nudge back from the line.
Follows the car ahead
Sets the gap and speed, slows for traffic, and stops and goes where listed.
You stay in charge
A driver camera checks your eyes. No city turns, no naps, no FSD claims.
How to add it to your R1T
Four steps. No wiring cut, no dealer visit.
- 1
Confirm your year and trim
Open your exact R1T below. Trim names decide whether the car has the cruise and camera openpilot needs.
- 2
Order the comma four with the Rivian A connector
Pick your car in comma's shop and the right harness is added. Nothing else is required.
- 3
Mount it behind the mirror
Stick the mount high and centred, plug the harness in at the camera, and route one cable. About fifteen minutes.
- 4
Drive a few minutes, then engage
It calibrates on your first drive. Then press your cruise button and the R1T takes the lane.
What the first drive is like
Every R1T comma lists
Open your year for the exact trim, harness, and what controls speed.
Driver+ versus openpilot
Driver+ Highway Assist works on select mapped highways with hands on the wheel. openpilot centres the R1T and R1S on most roads.
Rivian owner guides
Plain summaries of the community guides for Rivian cars.
Questions R1T owners ask
Is this Tesla FSD for a R1T?
No. FSD is Tesla software for Tesla cars. This is openpilot, an open-source driver-assist system that steers and follows traffic on your R1T. You watch the road and stay responsible.
Which Rivian R1T years work?
comma lists the 2022–2024 R1T. Open the exact year below to confirm your trim.
Do I keep Driver+?
Yes. The harness sits between the car and its camera, and your factory safety features keep working. Unplug it and the car is stock again.
Does it handle stop-and-go traffic?
Yes on the listed R1T years. It slows to a stop behind traffic and moves off again on its own.
Is there a subscription?
No. The device and the software are a one-time purchase. comma prime is an optional extra for remote access and longer drive storage.
Do I need to keep my hands on the wheel?
Not constantly. A small camera watches that your eyes stay on the road, and openpilot warns you and stops steering if they do not.
Other Rivian models
Every Rivian on the list Photo: comma.ai. Years and trims come from comma's official supported-cars table for stock openpilot. FSD is a Tesla trademark; openpilot is separate open-source software. CommaGuide is an independent guide and earns a referral credit on some orders.