Car will not allow reengagement of Autosteer until parked if user ignores repeated warnings

[roblab]

Roger that, I don't have that experience (at least not that I can recall).

Jeff

I guess I drive more like you do. No hassles. Only time I get a message is when the car can't see the lines. Then it asks me to take the wheel.

It may be that some interpret "holding wheel" as "resting wheel": just laying their hands on it, relaxed. I know that I tend to follow what the car does with my eyes, and perhaps with tiny unconscious torque on the steering. Not like steering. More like "holding" the steering wheel.