When it gives you the 2 handed graphic to take control that's more of an alarm it's because the in vehicle camera can see you're not looking at the road for an extended period of time. It did that to me one time when I was sending a text while stopped in a traffic jam.
The 2nd warning is really annoying and unclear about the level of force needed.
Also test drove an Ioniq 5 and we liked it a lot too. Definitely the top competitor from what we saw. Every other vehicle that approaches the features of the Tesla that we saw costs a crazy amount of money.