If you just want to disengage autosteer, but keep cruuise control (TACC) active, as a single motion, push the control stalk up, then immediately back down. This temporarily disengages both, but then restarts TACC. There’s generally a very slight hesitation on the speed as you do this, but you can resume TACC without getting into regen.
Be aware that this could adjust your set speed up/down if you’re not currently at the default speed for what it thinks the speed limit is.
Most of the time, I just wiggle the wheel when I want to change lanes and I’m in autosteer mode, then resume autosteer when the lane change is complete.