In my Model 3, when I use my turn signal this does not happen. Also, it can be disabled. And I could hardly say that the gentle tug is "taking over the steering", it's more like a nudge.

In my experience it does sometimes make errors, but it also sometimes makes very good assistance, so much so that I've come to depend on it. Have you ever noticed that the dings and chimes are much more frequent when you're looking away from the road?