Impressions after my first 1,000 miles

Two different warnings. I believe the one you are talking about is while HA is on. I’m talking about the car yelling at you to grab the wheel while you are just driving on your own and looking straight ahead with one or two hands on the wheel. No cell phone. No danger. No anything weird. I just found it a bit odd and overstepping.
You can turn that warning off in settings.
 
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