When I first got AP, I tried to drive hands free with tugs now and then. Impossible and no fun. Now I just hold wheel lightly at 10 and 2, with some help from the spokes. Totally relaxing, yet I’m there to take over if needed. If I need to use a hand or two for a few secs, I do. IMO this is the ONLY way to drive autonomous levels 1,2,3. Those of you who are trying to drive hands free are making it harder on yourselves.
PS, doing it the way I do is FAR better on highway than no AP. Once you find the groove, it’s kind of like reaching a cyborg level with your car. Stop fighting it!