The disclosed embodiments generally relate to methods, systems and apparatuses for dynamic firmware/software (FW/SW) update distribution in highly and fully autonomous or automated vehicles. In one embodiment, the disclosure relates to an apparatus to dynamically upgrade code in a vehicle. The apparatus may include: a communication module for one or more of wireless or landline communication; a central processing unit (CPU) in communication with the communication module, the CPU configured to receive an indication requiring a code upgrade to an existing vehicle code software and receive the code upgrade; store the code upgrade; execute code upgrade in parallel with the existing vehicle code software; log one or more error indications resulted from execution of the code upgrade; replace the existing vehicle code with the code upgrade if the logged error indication is less than a first threshold; and direct the code upgrade to a second vehicle to update the second vehicle code. The disclosed embodiments may be implemented in autonomous driving (AD) vehicles as well as vehicles having operating code or software/firmware.