From watching youtube videos I got the impression that the Ford 'Blue Cruise' does not require the hands to be on the wheel.

I haven't used the Ford system but I have used the Tesla system and it requires you to move the wheel at a pretty annoyingly and regular frequency to remain in autopilot mode. I believe the cabin camera can also detect when you are on your phone or looking away - but i'm not sure if this is rolled out to non-FSD cars.

I think the frequency that you have to prove you are paying attention is about every 30 seconds