I've found that no matter where I 'rest' my hand, I tend to hold it still enough (ie, not applying any torque) that I get the alert. As a result, I keep my hand on the wheel, not because it helps, but so that it's already there when I give it the obligatory subtle tweak to let it know that I'm there. Hands free can't come soon enough...not because I plan to read a book, but because I would love to just have my hands on my lap, ready to take the wheel.
They already have sensors to ensure you're looking forwards, I wish that was enough to remove the 'your hands need to be on the wheel' message, but I'm guessing it's a L3 autonomy thing.
Drove 380 miles yesterday (NJ to MA and back for college visit) and wished for it many times during long stretches on the freeway.
Side note, the car handled absolutely beautifully on the Sawmill Expressway, and I was treated to 3-4 mile stretch where there somehow wasn't a single other car, allowing me to use both lanes through the corners, meaning I could drive a little quicker without a lot of lateral G for the sleeping passenger (my daughter). The car is such a pleasure on casually windy roads like the Sawmill.
Of course, on the way home there were 3 instances of 2 cars who would've given the @#$@#$ Blue Angels a run for their money when it comes to maintaining tight formation. I nearly asked my daughter to take video of two cars ahead of me...nobody in front of them, just me behind them.....they are absolutely side by side for about a mile before I had enough and politely suggested with my lights that they, perhaps between themselves, could muster the energy to some their few working neurons to take a pause from the NONE SHALL PASS formation.