It's unlikely that Tesla is going to hold you responsible for countering anything the car does while in AP or FSD. unless you get into an accident. In the later case you were probably not attentive enough to have avoided it.
On the other hand, Tesla will still be looking at your driving habits when not in those modes. If you wish to avoid this scrutiny, you will need to use FSD more and take measures to avoid an accident with it. In that way, it's a win for both Tesla and you. They get the testing data they want when you use FSD and you don't really need to worry about being dinged (pun intentional) , except for an accident, every time you drive not using FSD.