In this hypothetical who carries the liability and insurance for if the self driving stuff crashes? If thats Tesla I dont have a problem with them not letting m

In this hypothetical who carries the liability and insurance for if the self driving stuff crashes? If thats Tesla I dont have a problem with them not letting me modify anything. But if I'm still ultimately responsible for whatever the car does when in autonomous mode then I should be able to do whatever I want to the whole car. Essentially I dont expect Tesla to allow me to make changes to their system that's indemnifying me from risk.