I wanted to chime in with something I've kind of learned to do, with MUCH joy.. so now-a-days when I want to disengage FSD I just follow along!
I'll steer as I would steer very gently, as the FSD makes it's moves.. within a few seconds my decisions won't agree precisely with the FSD decisions and it just let's go. This idea of follow until the FSD disagrees with you comes across as a very gentle and easy transition into me driving until the next activation
I'm not sure if that makes sense, but I do find this to be SO much nicer than just 'disengaging' and catching up to normal for half a second. It's almost like a pass-off of control..