I find this annoying... I have a rental I'm driving around while I wait for my MS. It's a well equipped Hyundai Santa Fe, while utter garbage and completely gutless, it has some decent lane-keep features. It wanders a bit here and there but it does the AP1 autopilot thing. No lane changes but enough to destress your drive.
On my way home today, I decided to see how long it took the system to nag me to take control back, so I put it on cruise and enabled lane keep and took my hands off the wheel. I waited... and waited... Nothing. It took about 5 minutes before I got a warning to put my hands on the wheel. It was very inconsistent but never went for less than a minute before it nagged me.
I wonder if it's Tesla's naming conventions that they decided to use (Autopilot... Full Self Driving) that has the regulators up in arms. It just seems like a complete double standard. You have pretty crappy vehicles run by software developed by teenagers that is overlooked by regulators however one of the most robust driver assistance technologies in the world today is getting red-penned every day.
/rant