I can see how it would be difficult as the yoke jerks quickly in turns and grabbing it can be challenging vs. letting your fingers glide as the wheel turns. when I had to take over autopilot, I just grabbed whatever part of the yoke to cancel it, I wouldn't say it's scary, but it was a little weird. My first reaction though is to tap or hit the brakes on maneuvers I don't agree with. Grabbing the steering wheel to input may be too late if the car is still moving.You can’t. If you live on simple streets where the yoke doesn’t turn much then maybe you can. But the yoke yanks back and forth by itself and if your hands are on it you’ll disable FSD by virtue of torquing it. This is not an issue with a steering wheel as you can let the wheel pass through your fingers while still being able to grab it as necessary.