It was not two seconds, it was two minutes (in the response.) The car starts to alert you by beeping when it doesn't detect hands for a few minutes and display

It was not two seconds, it was two minutes (in the response.) The car starts to alert you by beeping when it doesn't detect hands for a few minutes and displays a message on the dash to grab the wheel. It does this a few times (every ~10 seconds I think) after which if there are still no hands on the wheel, it starts to slow down and come to a complete stop. In this case, it looks like the driver disabled Autosteer by abruptly tugging on the steering wheel after two alerts.