The Lucid combines both "hand on the wheel" and the camera. if you take your hand off the wheel, it will warn you every 30 seconds or so to "pay attention." A quick wiggle of the wheel or slight pressure twist will settle the warning.
If you are not looking at the road, you get a different "Pay attention" warning with a little eyeball icon. Just look at the road, and it goes away.
Some have complained these two warnings are overly aggressive, but I actually find them very handy. They rarely pop up for me, because I keep my hand on the wheel and my eyes on the road. (I know steering wheel position and glasses can cause issues with the camera. I wear glasses, regular and sun, and never have this issue.) Every time the warning has gone off for me, I was indeed not looking where I was supposed to. So I don't mind the nag in that case.
If you ignore these warnings, the ADAS system will eventually disengage.
As good as HA and ACC are in the Lucid, they are not designed for "hands free" driving.