There are some variables here that the disapprovers can't seem to grasp. First of all, it appears that different cars require more or less torque on the wheel to quell a nag. Secondly, people have quite different upper body anatomies, and physiologies. The nags can make auto-steer almost unusable for some unlucky drivers who have to keep yanking the wheel, through no fault of their own.
A terrible car/human combination develops when no "slight torque resistance" works, and a jerk is periodically required. This can easily cause auto-steer to drop out, making the driver ever on edge and fatigued.
Given the variations in wheel response and human anatomy, the software should allow for adjustment. Barring that, a small counterweight, not enough to defeat the nag, can tune a specific car + human to where a hand resting on the wheel, e.g. lightly pulling at the cross-member, will prevent most nags. When a nag occurs, a gentle pull takes care of it. This is how it should be working by design, for everyone. If it works like that for you with no mods, that's great, but don't crucify the outliers.
If one is needed, the ideal weight to use has to be determined by trial and error. IMHO removing hands entirely should let the blue nag occur. I think that using heavy weights is crude, counter-productive, and completely unnecessary.
On my car, 100 grams (3.5 oz) behind the cross-member has had the nag behaving ideally for 2 years, until version 2021.4.10.1. The whole nag system has suddenly changed, and I just had a miserable 150 mile drive with frequent nags, and 3 drop-outs of auto-steer with dangerous dives into the adjacent lane. Either an update will fix it, or it's back to the counterweight calibration drawing board.
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