This is exactly how I drive my car when FSDb is engaged, and since where I want the car to be never exactly matches where FSDb wants to be, I'm able to eliminate 99.99% of nags. However, if I'm in a situation where FSDb is hugging the left side of the lane, and I'm constantly applying right wheel torque, I'll still get a nag that requires me to let go of my right wheel torque and momentarily apply left wheel torque. That one situation is responsible for nearly 100% of the (extremely infrequent) wheel nags I get.