TL;DR: you further worsened AP to keep telling me to move the wheel when AP is driving straight and I'm already holding the wheel. It now triggers maybe every minute, and it is most annoying. I feel cheated as a customer that those usability downgrades are silently being pushed to unwary customers who are now going to more seriously consider rejecting all further software upgrades since they can't be trusted to actually be upgrades across the board. I don't have a dog and I don't care about dog mode, but I very much care that my AP has been rendered even more annoying to use than it already was made last year.
So, some time mid 2018 (from memory), you changed the AP to nag much more often depending on car speed.
While nagging a driver who doesn't have their hands on the wheel for more than a few seconds when driving at freeway speeds, is understandable, the way it is done is terrible.
It keeps asking you to nudge the wheel because it can't actually detect your hands on said wheel, to the point that if you do it wrong, you'll even disengage AP in the process. Sure, apparently you can change the volume to do the same, but come on...
From what I've read, it only uses resistance to the wheel turning, of which it gets none if the car is driving on a straight freeway, which it does most of the time, so it just keeps nagging you.
This was never fixed, I've been mad at Tesla for pushing this, and at myself for trusting Tesla to push silent downgrades to the car's usability.
Now worse, in the last month or so, my guess is that it was in an effort to combat devices people are using to get rid of that annoying nag that is so often asking you to prove that your hands already on the wheel, are indeed on the wheel, instead of improving the system and being fair to the vast majority of users doing the right thing, the nag was worsened a lot more.
I didn't time it, but in the last days, it's been sometimes asking me to move the wheel pointlessly maybe once a minute or so on the freeway (again when driving straight where it's hard for it to feel resistance from or weight of my hands, especially if I use both hands and their weight kind of cancel one another).
I called tesla support and the person I talked to said he got many phone calls in the last days of people complaining about the exact same thing than me, but that I should post here to complain where someone may see it (kind of sad that Tesla is asking their customers to complain on a public board to have a chance to be heard).
So, tesla, please
1) fix/revert this change
2) seriously reconsider pushing usability downgrade changes. You are only encouraging engineers like me to hack their car, get the software out and start a public market of software versions so that people can downgrade themselves to a better version.
3) if it is what happened (I don't know), seriously reconsider "oh we'll just increase this nag parameter and see how much people complain, or not"