Yeah, in fact, on our 3, it's pretty annoying. I virtually always have my hands on the wheel when autopilot is on, and it still seems like it nags me every 15 seconds to apply turning force to the wheel. Even when I think i'm applying enough force. Then sometimes you apply too much and it disengages.

I can't say I use it all that much, or like it all that much, but I do so occasionally. Just got home from a roadtrip last night. Frankly, because I'm watching where I'm going anyway, I feel the traffic aware cruise control (available on lots of other cars as well) is the best part. If you're looking down the road the steering input from your body is basically automatic anyway. And it's smoother than autopilot.

(if you're not looking where you're going, hopefully you're not in the driver's seat)