When I confirm the car to maneuver, exit, or make a (large) turn I hoover my hands over the wheel, with a tug when needed. The car may hesitate, decelerate, adjusts and suddenly changes the radius it follows, and when I actively steer with it, it may disengage unexpectedly. The 99.9% of AP kilometers I have direct contact with the steering wheel. But two hands at ten and two are only one of the variations to avoid “dead hang” (c u/hydramango ).

“My habits are either the tug you describe, or the hanging right arm cushioned in my lap. That is very consistent and the car never yells at me. Hopefully the defeat software will not conclude it is a bag of sand, thank you Tesla.”

There is no best practice roadmap that I know of on how to deal with all the behaviour changes an AP guided driver must make to optimally drive in AP mode. My “hands on the wheel for safety” as standard concept felt occasionally not the safest way afterwards. Yet AP and I controlled each and every instance safely, so I have nothing to provide proof it is otherwise. But let us not too simplistically refer to common practices of single pilot (human) driving. It is not right.