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I don't think we should stress it. If you pass out and fall asleep and your head hits the steering wheel, it'll apply enough torque that the car will think your hand is on the wheel, and there will be no nag!
The 7.0 firmware thread is indicating that there's a nag when the lines become faded or the car is unsure where to go. Outside of that, there is no nag.
But seriously, ladies and germs, I think nags are no more than a nuisance that folks who wish to circumvent will and otherwise serve no value except maybe to release some liability from Tesla (IANAL).