You have to keep your hands on the wheel, but even then it's not really a motor control issue, the problem is attention and surprise.
I assume for mechanical and practical reasons it does, but I don’t know to what degree it will “fight you”. How much pressure is needed to override the system? If I’m holding it and refuse to let the wheel turn, I assume it gives up and computer mode turns off? But there has to be some degree of resistance it’ll overcome right?
They can wiggle alert safely if it’s full electronic steering and not connected to a tie rod. IDK if that is the case, typically sucks for feeling the road.