One of the safety factors used here is "Forced Autopilot Disengagement" which I've experienced a bug with that can trigger if you take control of the car using

One of the safety factors used here is "Forced Autopilot Disengagement" which I've experienced a bug with that can trigger if you take control of the car using the steering wheel without disengaging via the control stalk. I have a habit of taking over control of the car on a freeway offramp by just turning the wheel, and around 1-2% of the time the car freaks out and gives the disengagement alert thinking that I'm not controlling the car. I suspect that bug will make my safety score worse.