I think it's important to define what a nag is, and what a nag isn't.
Back in Oct of 2015 when it was initially released hardly anyone viewed the warning to hold the steering wheel. Instead it was thought of as a confidence thing. Like "Hey, hold the steering wheel since I'm not feeling confident at this time".
Then the first fatality happened, and Tesla introduced speed based nags I believe in V8 (but, I might be mistaken about that). Tesla did that based on the recommendations from the NHTSA, and pressure from the media who viewed AP as too lenient.
Some owners vowed to never upgrade because they didn't want the nags.
Since then it's been a constant battle where Tesla will increase the number of nags, and then owners will complain and they'll dial it back.