I never use autopilot, only the speed sensitive cruise control, but there are warnings and alerts at every step of the way to enable it and use it. If the steering wheel input conflicts too much with what the cameras/sensors are telling the autopilot, then an alert sounds and the dash flashes a warning that autopilot/cruise control is disabled until you stop the vehicle and park. When I bought some new fitted floor mats for mine, I saw the little steering wheel weights that are supposed to simulate a hand resting on the wheel in the "people also bought" section of Amazon.