I drive with constant torque on the wheel and rarely see a nag. Once in a while, the car will flash blue on the screen when wanting to change lanes and will not do so until I apply a little extra torque. But I have never seen my car change lanes automatically in less than five seconds after the turn signal is activated. I've got many thousands of miles on NOA and the car is very consistent about this.It's actually waiting for solid torque on the steering wheel. If you keep constant pressure on the wheel, it will merge much faster.
FSDb, on the other hand, can be a weaving idiot when it wants to. Sometimes it seems like it hits the blinker as it turns the wheels. It's like Dr. Jekyll and Mr. Hyde between the two stacks.