I think the thing that drives me crazy currently is that the Tesla is oversensitive the steering wheel input. So they don’t want you using a hands-free device on your steering wheel… But the thing also turns off FSD if you have too much input on the steering wheel.
Basically, you seem to be damned if you do damned if you don’t.
(I’ve had full self driving cut off because my hand is sitting on the steering wheel and creates enough drag that he decides I took over. Obviously, that was never the intent, and the light touch. I have a steering wheel is really light (which is caused the card to tell me I have a hands-free device on the steering wheel and turn off FSD for the rest of the drive… even though there wasn’t anything on the steering wheel but my hand.)