I agree with roblab, we are spinning here a bit on what "nag" is. My definitionS:
1. Traditionally, I have always known a "nag screen" as something that always pops up at the same time, e.g. earlier Navigation Systems on many, many non-Tesla vehicles forced you to push an "OK" button to acknowledge the driver was responsible to keep their eyes on the road, on the screen before the actual Nav function and display would become operational. Autosteer has no such thing beyond an initial acknowledgement when the driver turns the option ON in settings.
2. Autosteer will also present a pop-up (I don't call it a "nag" to avoid confusion, but fine if you want to), when the driver has initiated Autosteer with a double pull of the stalk and then only when MS needs the driver to take control. From reading hundreds of V7 posts in the past 24 hours, it seems that pop-up occurs when Autosteer is not sure what it should be doing, dependent upon the situation of the road, traffic, your speed and conditions, and how the sensors on your particular vehicle are reacting at that moment in time. Unlike what I call a "traditional nag screen", my experience with Autosteer thus far does not present a pop-up every time I initiate it, every few minutes, or necessarily at the same road location every time (I've gone over same section 3 times and only once had a pop-up in that similar area), which is just how I would want it to operate. In theory, Autosteer uses the physical situation going on with and around your MS at the moment, but it also uses crowd-sourced data to hopefully improve the way it causes all our MS to drive in similar conditions and/or locations, so pop-ups should again, in theory, reduce in their frequency somewhat as more MS go over the same sections of road (and perhaps in similar conditions) and Tesla refines their algorithms.