AutoPilot disengages if you try to take over the wheel, it's one of the basic features that is available.
The only instance where you are steering is on the new lane switch (turn on blinker, check lane, depart from current lane)
The only instance where you are steering is on the new lane switch (turn on blinker, check lane, depart from current lane)
This system is meant for cars without level 2 driver assist, so not for Teslas.
Further, the system has no control over what "disengages" in the car itself - it is sending bogus sensor inputs to elicit a reaction according to level 2 driver assistance. Thus, if it sends such bogus inputs and fails at doing this "reliably", it will result in misbehaving steering, breaking, etc. which it does not control itself.
Further, if it was in control, my argument would stay: If your controlling device has left the building (crashed), it can also not disengage anything any more reliably.