In that link "The company requires car owners to grant permission on the cars’ touchscreens before Tesla collects their vehicles’ data"

I believe that was autopilot footage that was uploaded for training after opting-in, not sentry video. And yes, they changed the policy as noted in the article.

"Several years ago, Tesla would receive video recordings from its vehicles even when they were off, if owners gave consent. It has since stopped doing so."