I was on FSD 12.3.6 for a while on my 2021 and I'm pretty sure wrenching on the steering wheel only disengaged steering while keeping cruise control on. I did it a number of times because 12.3.6 tends to signal, start to change lanes, go back in the original lane, and then complete the lane change after that initial hesitation. That can be dangerous when it does that getting into, for example, a left turn lane so I would take over the steering to complete the lane change the first time rather than having 12.3.6 confuse everyone behind me by making it look like I changed my mind on the lane change.
That lane change hesitation (sort of a double take) and the tendency for 12.3.6 to ride the white line (and rumble strips) on the right side of lanes are my only complaints about that version.