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Hold Steering Wheel Warning

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On a recent trip on an interstate while in FSD, I often got the blue background on the display with accompanying warning to keep my hands on the steering wheel. My hands were always firmly on the wheel. To avoid the warning I had to consciously apply opposing pressure with my hands and squeeze very firmly with my fingers. By the end of the 2-3 hour trip, my hands were tired and sore. Has anyone else had this problem? Why can't a driver hold the wheel as he normally would with any car. If the software is supposedly sophisticated enough to detect hands on the wheel, it should also be sophisticated enough to allow a normal grip. Such annoyances nullify any relief from the stresses of driving that FSD should otherwise offer. This, and vague promises to return the Summon and Autopark features someday (who knows when), adds to my disappointment and regret at shelling out big bucks for FSD.