...Is there a way to disable hands-on or convince the car there's a hand on the wheel?
You are missing the whole point. Autopilot / FSD is beta and that is exactly what you get: an unfinished product.
If you don't follow its instructions, you might join the list among Tesla Autopilot crashes, injuries, and deaths.
There's a consolation prize after Autopilot crashes, injuries, and deaths for being able to exercise the right to sue Tesla (especially, after death.)
However, no cases have been successful so far while 2 others (fatal Autopilot Model X in Mountain View, and fatal Autopilot Model 3 in FL) are pending.
To answer your question: Yes if you want to invite death, there's a way to fool Autopilot system: a continuous light counter force device on the steering wheel would do it.
I myself use one hand hanging down to create a light continuous counter force so I can get the feedback from the automated steering.
If I don't do that, I don't get the steering feedback and by the time I react, it might be too late.
So, for me, an orange won't do it. My hand there for a light continuous counter force does fool the system but that is not the purpose. The purpose is steering feedback so I can seamlessly react with no lag time.
Choose life!
Good luck!