Elon Musk showed his millions of followers on the X platform the upcoming version of Tesla’s self-driving software. The billionaire even managed to drive for almost 20 minutes before he had to intervene and stop a car that drove into oncoming traffic, writes 404 Media.

The video lasted 45 minutes and appears to have been filmed by Elon Musk himself while sitting in the driver’s seat. X estimates that the number of viewers reached 10.5 million.

The incident occurred at 19 minutes and 50 seconds. The Tesla suddenly started driving in Full Autonomous Driving (FSD) mode, driving into the oncoming lane.

“Oh, intervention,” Elon Musk exclaimed at that moment and put on the brakes. “This is our first intervention because the car should be going straight. That’s why we’ve not released this to the public yet. That’s the first intervention for the whole drive.”

As a reminder, Tesla has already been the subject of many legal cases regarding the safety of its cars. For example, in California, the company was sued by owners who complained of “phantom braking.” The U.S. Department of Justice is also investigating Tesla’s potential criminal liability for at least some of the fatal and non-fatal accidents related to the autopilot problem.