Treat it like a driver assistance system. I treat FSD the same as I treat Augmented Cruise Control and Lane Keep Assist in my CRV. I keep my hands on the steering wheel and follow along with the decision making.
Real question, then, from someone who only bothers driving when he must and even then in a 2016 model: Why do you use it? What beneficial purpose do you find it to serve?
I'm asking because I feel I must be missing something, inasmuch as to have my hands on the wheel while not controlling the car is an experience with which I'm familiar from skids and crashes, and thinking about it as an aspect of normal operation makes the hair stand up on the back of my neck. (Especially with no obviously described "deadman switch" or vigilance control!)
Which is just worse.
When I'm driving I know what I'm doing, what I'm planning to do and can scan the road and controls with that context.
Making me have to try and guess what the car is going to do at any given time is adding complexity to the process: am I changing lanes now, oh I guess I am because the autonomy thinks we should etc.
Reminds me of a situation not long ago.
I’m in left lane on highway. Tesla ahead of me but quite a ways away.
I realize as I’m driving that the Tesla is moving quite slow for the left lane driving. And before you say it, yes there are lots of people speeding in highway left lanes too.
So - I passed on the right rather than tailgate. Look over and see a guy leaning back in his seat. No hands on wheel. Could’ve been asleep. And driving 10-15 mph slower than you’d expect in that lane.
To your point about using it FSD the way you do, makes total sense to me. Which implies you would also cruise at the right speed depending on the lane you are in, unlike my example.