I'm generally happy with Autopilot in my Tesla but it annoys me that I have to keep tugging at the wheel. Is it not safe to sit with your hands in your lap, ready to grab the wheel, while attentively monitoring traffic?

It feels like a hypothetical requirement on old-school cruise control to keep your foot lightly on the brake, in case you need to stop. But obviously no cars worked like that. You just set cruise control, kept your foot comfortably on the floor next to the pedals, and kept an eye out.