I called and reported this to TSLA yesterday. It nagged me a few times on my drive back from the desert this weekend, even though my hands were on the wheel. I couldn't get the nagging to stop by moving my hands around and squeezing it. They looked at my logs at the exact time I was driving home yesterday and couldn't find it. Makes me wonder how they can report that some of these drivers that were killed didn't have their hands on the wheel when their system and logs seem to be broken.
Squeezing the wheel won't do anything. If your hands are just lightly resting on the wheel they won't be detected. The wheel needs to feel at least a little bit of weight or resistance to "detect" if you have a hand on the wheel. If you get the nag just nudge the wheel a little tiny bit in one direction and it should stop.