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> It appears that this is necessary for autopilot to function

Seems like the answer is here. Tesla evidently needs unquestioned access to your high beams for their research program in which you are voluntarily participating. You can regain control of your high beams by leaving the program.

You can turn it off by hitting the lever forwards (I think). Unfortunately, you need to do this each time you engage Autopilot, so it's not a complete solution.

On my Toyota Highlander, I can toggle that with a button on the dash to the left of my steering wheel.