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To adjust the steering wheel, press Controls > Quick Controls > Adjustments > Steering Wheel. You can use the left scroll buttons on the steering wheel to adjust the steering wheel to a comfortable position:
WARNING: Do not make any adjustments to the steering while driving.
See Also Adjusting Effort on the Steering Wheel.
Disclaimer: Tesla, Inc. was not involved in the development of this document and did not provide any input or otherwise edit, review or authorize it.