mpt commented "I hold the wheel and often get a written warning" but that wording is a little lacking or vague. Simply holding the steering wheel is not enough. The Tesla software must detect some amount of torque being applied to the steering wheel. I think some people might misunderstand what is meant by the term "to apply torque to the steering wheel." So for those who think they may not fully understand what this means I would describe it like this. By applying torque to the steering wheel the driver is rotating the steering wheel (clockwise and counterclockwise) in the usual manner of directing the vehicle as if there was no directional vehicle software assistance also know as Autosteer. To apply torque to the steering wheel does not mean to grip it tightly because there is no steering wheel sensor for this.