I agree that it's annoying, especially because I consider driving with two hands safer than one. The issue though, is it's the only sensor the car has to gauge driver attention. The next time somebody crashes on AP with 2018.21.9 or higher, they'll be another outcry about AP crashing a car when it's really about drivers not paying attention and Tesla will be forced to try and find some way to enhance that nag further.
Wait until a serious crash can be contributed to somebody using an autopilot buddy or some other defeat system. Then we'll need to alternate wheel torque from right to left every 30 seconds to avoid nags.
Right now, the easiest way to keep autopilot happy is one hand with enough resting weight to impart bit of torque on the wheel. It isn't optimal, but it's reliable. If that doesn't work for somebody, then there's probably something wrong with their car. Tesla's not likely to backpedal on the nag until the autopilot system has FSD capabilities.