My car judges it if I have put in any manual inputs over the past 10 or so seconds then it starts complaining. Which is seemingly reasonable however there's plenty of nearly perfect straight aways where there's nothing to do for it or me.

It would be nice if it had a system where if it isn't doing anything, it doesn't think I'm not doing anything either.

Except those straight, boring roads that require no input are also exactly where and when I most want to use autopilot. This means I have to manually adjust to keep the car happy, instead of letting the well-aligned car just carry on. Autopilot ends up being more work, and more annoying, than just driving myself

It beeps at you if you stop paying attention, which is superior. Hands on wheel is an arbitrary design decision more likely to placate what a layman would think is necessary to ensure safe AI steering.

It’s an option in open pilot, but not one that defaults to on