My understanding of the Tesla EPS system (this is also a guess, based on discussion observed between Comma 3X devs working on Tesla integration) is that there's not a separate mode it operates in while under FSD is enabled. That's in part how the safety of the EPS is validated independent of the LKAS - driver should always be able to easily overpower it. Contrast this with other car models with a "parking mode" for their EPS, which operate under greatly increased torque limits.

Clearly something is going wrong if drivers have to fight hard against the EPS, but FSD shouldn't be able to do anything that a typical LKAS can't either, safety guardrails included.

(also, thanks for your work on solvespace, great piece of software)