Just finished a week long road trip from SoCal to OKC with V9 and the 2017 MS 90D. My left hand is a bit sore from gripping the wheel and applying downward pressure.
I will switch hands, put my hand on the top of the wheel, then the bottom, then keep them in my lap for a while and click the volume up/down several times, then back to the hand position. But how soon we forget the "old days" when you had to not only hold the wheel but steer it through every corner, and both hands were tired.
Manual control is needed when an erratic driver cuts me off extremely close and I don't want to risk Autopilot catching the error. Construction zones can be an issue if the crews place concrete barriers or reflective barrels over the left lane line. One surprise to watch for are the number of drivers and truckers who drift across the lane lines. All vehicles need Tesla's rock solid Autopilot steering for safer highways.
I find I need to keep the right foot close to the accelerator for situations when someone takes advantage of the 1.5 car lengths ahead of you and squeezes into the spot; you know, those people who start signalling after they start turning into your lane right in front of you? if you are quick and press the accelerator the car won't slam on the brakes and risk getting rear ended. The radar and sensors in my AP1 car can sense vehicles moving into the lane but it doesn't see signalling, so the driver knows what is happening a few precious milliseconds before the car does. And yes I don't like how the car still likes to make the radius of corners larger by travelling in the outside of the lane when trucks beside you are inside of their lane; it gets uncomfortably close at times.
The other situation I find a need a quick foot is when approaching slow moving trucks on left hand sweeping uphill sections. I am in the middle lane, and I can tell that the semi truck is in the outside lane, but AP1 doesn't know this for sure so it sometimes wants to brake hard until it is sure the car is not going to reared the truck. Anticipating this and hitting the accelerator saves getting rear ended, looking like I am an inexperienced driver, and wasted energy/brakes.
But with all EAP's deficiencies, it is certainly not perfect yet, I would argue it does what it is supposed to. The proof is how I feel after driving. Yesterday I drove 700km; I left my house at 6:00 am and got back home at 5:30 pm. I was in the car for 9 hours including supercharging.
After getting back home I could have easily gone out for another drive. With every other car/truck I have ever driven I would be done: I would not want to even think about getting back in it for at least 12 hours, and I frequently would have needed a nap when I got back.