Having used Autopilot and FSD (beta/supervised) in my Model X for 7+ years, and Blue Cruise in my wife's Mach-E, I prefer at most times to have a hand on the wheel. I don't have my Lucid yet, but the torque sensing seems similar to Tesla's.
I don't tug at it periodically. Instead I hang a hand on it, typically around the lower quadrants. This satisfies the nanny timer, but it also lets me feel what the car is doing and respond to it immediately if I don't like what it's doing. This kinesthetic connection to the car and road keeps me more in the loop than just watching the road.
If your hands are not on the wheel, and an emergency occurs, your reaction time will be slower as you move to grab the wheel before you can do anything.
There are certainly use cases where I will use the hands free (once I get my GDE) but most of the time when using ADAS I will have a hand on the wheel. YMMV.