In my car (a Honda) I can have my hands on the wheel and if I’m not doi enough steering it will yell at me.
There are one or two spots around town that are straight enough that I don’t need to give any steering input and it will sometimes flag me there even though my hands were on the wheel the whole time.
On a freeway? Don’t think I’ve ever had thay happen though.
The hand not applying any pressure and barely touching the wheel. It happens consistently on my Ford Fusion when I am driving on a straight line. Car says my hands are not on the wheel when they are touching it.