Tesla Motors Club

I have a 3 week old Model 3 LR and when on autopilot it seems to go straight to alert beeping to instruct me to “apply slight steering input”. I don’t get any of the “pulsing blue banner” at the top to warn me to apply some slight force. This is all with me constantly with hands on wheel. The problem is it wakes my 6 month old as the alert is really quite loud. I don’t really expect to hear that alert unless I’ve ignored the “blue pulsing banner” but that never appears. Has anybody else experienced this?
Sorry if it’s been addressed before but I couldn’t find anything on it.