No, I don't have any unintentional disengagements anymore. When I was first using it, all my unintentional disengagements were from trying to clear the nags by applying torque on the wheel. I solved that by only using the "unused" buttons on steering wheel (sideways clicks on the right scroll wheel and the cruise control button) to clear them.
Prior to figuring that out, I noticed that the required amount of torque on the steering wheel to clear the nag is variable depending on a couple things. As far as I can tell, if I got the nag from the camera thinking I was looking down at a screen too much it requires more torque to clear it. Also, it seems like if I was on a long straight with a constant light torque on the wheel, I needed to apply torque the opposite direction to clear the nag without disengaging. It seems like the change in torque needed to clear the nag is measured relative to the constant torque I had been applying to the wheel but the torque threshold to disengage FSD continued to be an absolute torque value.