Wait, so Autopilot disengages if you don’t apply enough torque to the steering wheel and disengages if you apply too much torque to the steering wheel? That doesn’t sound like an enjoyable autonomous driving experience.
This is fundamentally where Comma and Tesla differ in approach. Comma's goal is to build the best possible level 2 system that makes driving relaxed and comfortable, and delivering good intermediates in the process. Tesla's goal is to have full self-driving, and any releases on the road to FSD are going to be a compromise.
The nice thing is that a Tesla is always very clearly “under the control of Autopilot” or “under human control”. The downside is that it can be a bit frustrating figuring out how to convince Autopilot that you’re still paying attention (adjusting the the volume/cruise control, or briefly depressing the right stick is a lot less finicky than the torque sensor but you eventually get used to what the torque sensor wants.)