Are you high? Firmware 21.9 is really good for me, but maybe I'm the person that's really high. I'm starting to think that people that get all these nags are driving bad roads or used to driving without a hand on the wheel, or are really high. The issue with this firmware if there is one, is likely the sharp twitch of the wheel on certain curb cuts, but it's not that bad. I see further refinements on the curvy roads.... even at speeds that used to overwhelm AP1 and 2 a few weeks ago.
driven about 300 miles on the new AP. I haven't noticed the nag any sooner than normal. then again I actually hold my steering wheel 99.9% of the time. haha. for shits and giggles, I took my hands off the wheel and counted how long until the nag. it was at least 30 seconds.