Same thing happened to me three times since the update, engaged hands free driving and all of a sudden got a message 'TAKE CONTROL OF THE CAR', today on my way home from work, same message but the car just stopped on the freeway and the hazard light came on. I called lucid service, they have opened a case, my service center will call me to schedule service, in the meantime i was asked not to use drive assist/hands free driving.
After the car just stopped with hazard light on, i took the nearest exit, did a reset and then started driving home. After that incident, i haven't used any sort of autonomous drive feature. Of note, i always have hands on the wheel even when i have hands free driving engaged.