I had lots of problems with 2022.36.* , including sudden big red wheel lockouts with no warning, but I find the nag improvements in 2022.40.4.1 to be fantastic, the best I've ever experienced so far, including pre .36 versions. This is only a couple of days of experience, but I noticed it right away.
The nag frequency, at least for me, has gone down substantially, and much less force is needed to register to the computer that a human is there. My usual way of driving is to touch the steering wheel lightly and let it turn on its own through my fingers, the bare minimum of friction or resistance is now enough to preclude nags, whereas before it needed annoyingly bigger jerks on the wheel and it often nagged at the very worst time, right at the beginning of a Navigate On Autopilot lane change. Now, with my usual driving there are almost no nags ever. I'm very pleased with this new version.
I am looking straight ahead so if it is starting to use the in-car camera to reduce the nag frequency or nag amplitude needed, I applaud them. Same low-nag performance with and without weight. With the new tuning, I'm not sure I'll want/need a weight for trips any more. (I was never doing anything unsafe anyway, only used weight because the nags and wheel jerk it wanted were undesirable and distracting)
It sure does look like they started hacking on the nag algorithm recently (after a long period of stagnation) and went too far in one direction with some versions and with lots of feedback they've taken it way back over to a consumer-friendly less naggy tuning.
