There has been so much snarkiness from the "you aren't holding the wheel right" "you aren't exerting enough force on the wheel” “you OBVIOUSLY AREN’T EVEN HOLDING THE WHEEL” crowd that those of us with an actual issue are being treated like liars or limp wristed light fingered Muppets holding our steering wheel. To those that are actually having an issue of holding the steering wheel and having nags and it taking more force / torque to satisfy and cancel the nag than if you were actually driving the car yourself !!!! There may be a fix. I have had AP1 / AP2 cars since 2015 and have never experienced the issue until this update. After reading and responding and even creating a few threads on this topic I did run across a hidden pearl that has worked wonders to fix this problem in my car. A poster wrote “Reboot both the ICU and MCU with the brake pedal pressed. After both have rebooted, on the MCU select power off and let the car sit for ~5 minutes without touching anything” Well I am here to report that, at least for me, this has fixed my problem. I can keep my hands on the wheel as I always have and haven’t gotten a nag in 3 commutes each way to my office without one nag. (160 miles) I purposefully removed my hands from the wheel on several straight stretches until the “hold wheel” message popped up and was able to very gently touch the wheel and cancel the nag. Up until I had done the above steps I would literally have to go right up to the point of disengaging AP to stop the nags. It is a real problem for some of us, fixed now for me, that is so disheartening to be bashed by the community as being at fault because we don’t want to hold the steering wheel or don’t know HOW to hold the steering wheel. If you are one of the unfortunate souls that is having nags despite doing things correctly try the reboot / shutdown instructions and let us know if it fixes yours too. I do appreciate all the feedback from the community and I am especially sympathetic to those that are actually doing things correctly and as directed by Tesla meanwhile being treated as idiots from many others.