I noticed a change in the policy after you 'forget' to touch the wheel while on autopilot (even though sometimes it just doesn't detect my hand on the bottom part of the wheel).
Prior to V10 you would lose the autopilot for the whole trip, unless you stopped for significant time. Now (v2019.32.12.2), in such case you would even lose the other cars and lines detection in the IC for a while but you'd get it wholly back after few minutes.
I like the new behaviour, I hated the old. +1 for Tesla.