The Pilot Assist in my '20 handles surprisingly tight turns on even secondary roads. It's wide lanes that show up the wandering issue. Very exciting to see a drift towards an "eighteen wheeler" at 70+ MPH. I forget how long PA will run before showing "hands on the wheel, dummy", but its waiting time more than enough to change from regular to sunglasses, for example.
One general downside to PA is it's easy to get out of sync with driving, and losing focus on traffic. OTOH, during long haul limited-access roads, it does make the trip easier to endure. While I'm not shy about dropping into manual shifting and Polestar to play in the "twisties", for "making miles" I'm 90% pleased with PA.
BTW, at the dealer, a tech said even little "micro" motion is enough to register for the computers. Sensing "hands on" is not done with a capacitive sensor.