When you are at a new speed limit simply pull and hold the autopilot stalk to quickly revert to the new speed limit.
This tip is from the author and owner of this website, Remie Cremers. Find me on LinkedIn. Are you buying a Tesla? Feel free to use my referral link for 1000 miles of free Supercharging! https://ts.la/remie90440
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Image is from Joshua Hoehne, find his work here.