And, crucially, disengaging - with a beep if you have hands on wheel and a panicky "crash imminent, we're all going to die, do something!" series of beeps if yo

And, crucially, disengaging - with a beep if you have hands on wheel and a panicky "crash imminent, we're all going to die, do something!" series of beeps if you don't. Being aware of the car's mode is not an issue.