I was thinking about how wheel torque driver monitoring isn't feasible for automatic driving on city streets/city NOA given the large turning degree required. How is a driver supposed to keep their hands on the wheel during a 90 deg right hand turn? Is there going to be an alert before any large degree turning actions "Comin' in hot, hands off!"
Consider the case of a driver coming up to a tight 90 deg intersection turn while holding the wheel and not paying attention. Autosteer starts to turn the wheel, driver isn't paying attention and disengages autosteer midturn. Driver refocuses and says oh *** and tries to correct. Highway wheel torque monitoring is pretty straight forward since the wheel degree doesn't go past +/- 45 deg.
I have a feeling that Tesla might be waiting until "Cty NOA" is good enough that the driver won't need to hold the wheel. But I am not sure how that would square with still requiring driver supervision since Tesla uses the torque system. So I am really not sure how Tesla will address this real concern that you bring up.