On the topic of steering, since you seem to have these interventions, as a mitigation strategy for the terrible rollout strategy for this feature: Have you tried adjusting the steering effort/assist to "comfort"?
I just wonder whether it would make it a little easier to override the steering input from the ELDA. I found that with Autosteer, I had to dial DOWN the steering assist (to sport or normal), because I found that it resulted in less of a jerk/swerve when disengaging the Autosteer with steering input. (In comfort mode, the torque to overcome Autosteer results in quite a swerve as compared to the same torque in Sport/Normal. At least for me. Autosteer would "give up", and then the steering would tend to get overcorrected because I would not relax the torque fast enough. )
In this case, though, maybe having a little bit more help would be a good thing? I have no idea whether it would change the way it feels to fight the ELDA demon...just asking.