holding at 4 as many suggest and resting the weight of my arm will disengage autopilot. Also at those positions it is quite uncomfortable position for my arm to remain for much time. Most comfortable is to hold it near my lap but that requires a concerted wrist torque to sustain so i end up just nudging it periodically which is a hassle. Sometimes it still complains even when nudging it often.
I have my steering set to sport. I wonder if that would make it more difficult to disengage AP since the steering itself is stiffer.