Teslas have always had the hands on check. It will make a ton of noise and stop AP for the duration of the drive if you fail to hold the wheel when warned. It has gotten stricter over the time we have had our car. Owners call it the "nag" feature.I am still surprised the NHSTA allowed Tesla to use the Autopilot name.
Other automakers have a safety feature that alerts the driver if they take their hands off the steering wheel. That could be added.
It is not a static time value; it depends on speed and possibly other parameters. AP is constantly being modified with Machine Learning based on driver's AP use. In can be as little as 10 seconds, but the nag is usually closer to 30 seconds.
Here is an older video...
Autopilot Nag
I haven't heard if this driver had his hands on the steering wheel or not.
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