i have a legacy model x so no cabin cam and i don't use a counter weight, but since 36.6 had 3 of these disengagements and service tech said the system flagged me as using a weight and disengaged without warning because of that. they said the algorithm judges the amount of torque on the wheel, and possibly the pressure i'm applying is consistent enough to make the system flag me as a false positive, and to avoid it they recommended i change the direction i'm applying pressure, or stop applying pressure periodically, etc.Thats what I was thinking. I used it again yesterday and seemed better (less inputs) but its certainly more demanding on 36.6.
I'm gonna try a ball type weight (as would be giving more random type inputs to the wheel unlike a standard, fixed position weight) next time i use AP.
BTW, with FSD on city streets, i'm not even sure how you could keep your hand on the wheel the entire time if Summon is any indication of its low speed wheel maneuvers - its erratic and all over the place.
it wouldn't surprise me if models with the cabin cam adjust how "inattentive" you can seem before disengaging if the system is also detecting a likely anti-nag device.