It doesn't want a squeeze though, it needs resistance/feedback on turning the wheel. Having your hands on the wheel isn't enough, you actually have to give it a little tug, so the alert happens pretty often unless you have a good cadence of tugging on the wheel randomly while in Autopilot.
Hence the increasingly common tactic of Tesla owners to hang a water bottle from one side of the wheel, which provides constant torque, and fools the system into thinking you are always holding it.
