Headlights Turn Off While Driving problems of the 2016 Tesla Model S

The mcu (master control unit) is the 17" touch screen display that controls most of the functions of the vehicle. Vehicle has been plagued over it's live with freeze up's and reboots. April 2019, screen locked up and would not restart, which caused vehicle to loose propultion, power assisted brakes, power steering, window controls (had to use emergency manual release to exit vehicle, then go back in and squeeze between the seats to get my disabled son out of the back as the back door handles did not operate either and had to try and find the well hidden manual release hidden under the carpet with no markings to get the rear door open and him out of his car seat). Vehicle also would not go in to park, I had to use my shoes (with steel toe) under the wheels to keep the vehicle from rolling down an incline. This also prevented the hood from being opened to potentially pull the power to the vehicle to force a reset as the reset buttons did not work. Also trunk would not open and had to climb through the inside to get to the manual release for the trunk to get diapers for my disabled son while we waited 4 hours for a tow. Once doors were shut, no way to get back in. Head lights also would not turn off. Had it towed to Tesla service of highland park, illinois from milwaukee county, wisconsin. They said the headlights stayed on all night, and that the car "fixed" itself the overnight some how. No additional information would be provided. That was the worst failure, however, it still locks up and reboots at random times as it's in use. Either while driving (when that happens I loose turn signals and other safety features as well as ability to control vehicle settings) or while parked preventing it from being driven.