I can’t speak to their vehicle, but we run the latest software revisions on both of ours (both 2018 builds, Autopilot hardware version 2.5), and nag delay has never been more than 10-15 seconds apart if I’m not applying sufficient torque. I have not experienced nags taking a minute to be realized (even in rush hour traffic with no curves and slow speeds).

The safety system is robust IMHO. If I push the accelerator pedal while autopilot is running, immediate nag. Running at 89 mph (max speed before Autopilot locks you out for the duration of the drive due to too high of a speed)? Nags every 5-10 seconds.

It’s not perfect by any means, but it also expects a responsible, aware driver behind the wheel.