I love the warning about not having hands on the steering wheel.

It goes off all the time. And each time, my hands are on the steering wheel.

It doesn't actually detect contact - it checks to see if you're actively adjusting the steering wheel.

Except I don't need to! The lane keep assist is so good that it's rare I have to give it additional help.

So - I kid you not - I've gotten used to giving a nudge to the steering wheel every so many seconds to prevent that warning (you cannot disable it).

Imagine a car gave you cruise control, and then checked if you were paying attention by requiring you to press down on the accelerator every so many seconds. Does that make sense?