Having experienced AP now, with my Model 3 I wanted to chime in on the issue of nags. I can definitely empathize with people who complain about them. If you try to go hands free, yeah the nags might seem annoying. "Really, 45 seconds and I have to tug the wheel again?" And if you just hold the wheel and don't tug, you might get annoyed that the car is still telling you to apply light force to the wheel. I found that resting my left at the 9 o'clock position applies enough gentle torque that the nags don't happen or don't happen very often. Also, I found that I could go hands free for a few dozen seconds and just give the wheel a gentle back and forth tug when the nag came on and it dismissed the nag easily. So for me, it wasn't a huge deal. I do hope that eventually, Tesla is able to do away with the nags completely at least for highway cruising so that we can enjoy true hands free driving on long road trips. I do think that EAP is almost there in terms of hands free highway driving. Both TACC and Auto steer work really well on the highway so if you add the side cameras to see cars coming up behind you and add speed limit signs, I think you would have a pretty good hands free highway driving system.