I hold my right hand at about 5 o’clock with a bit of tug and my left on my knee. Haven’t had a nag in the last 5 years except one time I was cooling both hands in the ac stream.
I think the problem is the phrase “keep your hands on the wheel“ rather than the more wordy “provide a little torque with one hand while keeping the other at the ready”.
Even if I didn’t need to touch the wheel at all, I still would because I like to feel how the system is driving.
I thought the warning was "Apply light force to the steering wheel."
The "keep your hands on the wheel" warning is when the car is uncertain how to maneuver and is warning you to prepare to take over. A two-tone chime accompanies this warning.