Mine is the "grab your steering wheel" alert when the lane-keep assist does too good of a job staying in the lane and it doesn't receive any steering input from me for too long of a period.

I do have to say that after test-driving a number of different vehicles before buying my Taos last summer, that I appreciate that VW continues to use real buttons for most inputs - although I do understand a number of their other vehicles use capacitive touch buttons.