I did a test this weekend to see what I can and can’t do. There are actually 3-4 different positions where I can comfortably fall asleep and still not get AP nags. As someone in this thread mentioned, one of these positions is resting your palm at 7 o’clock on the steering wheel. Absolutely no grip required. Autopilot will never nag you.
Another position for me was just keeping my legs in such a way that the knees touch the wheel. Arms don’t need to be on the wheel at all in this position. My seat is positioned in such a way that doing this is very easy, could totally sleep like that, and again, no nags at all.
This isn’t as hard as the OP makes you think.