Let me be clear - these are not the normal nag sequence. Normally, you get a little text that says please hold the wheel (no sound). Next, you get some blue flashing at the top of the screen. After that, you get some beeps. Then they get louder. All during this time, tugs on the wheel make them go away. This is NOT what I'm getting.
What happens to me is that I go from nothing to Red Please Pay Attention alerts with blue on the screen and loud beeping. I think this is the new alert they introduced when they turned on the camera for driver monitoring. Its what you see if you try to use your phone. During these alerts, tugging on the wheel does not cancel it unless you tug hard enough to take over from FSD. I did notice that hitting the record button cancels it (go figure). I get these every 5-10 min and after ~6 or so, I get a big red steering wheel saying FSD is not available for the rest of the drive and in the settings under FSD beta, it says I now have 2 strikes and the beta will cease to function if I get 3.
Next time I go to the office, I'm going to set up a camera to record the whole drive so I have proof and can appeal to Tesla.