On my vacation drive I had LKA on throughout the entire journey and I have two observations: 1. The warning to put your hands back on the wheel seems to come on at random intervals. Sometimes it is 30 seconds, but other times it was much sooner than that. I couldn't figure out a reason for it. 2. When it tells you to put you hands back on the wheel it also turns off LKA, which seems dangerous. If the reason you don't have your hands on the wheel is an emergency it seems like turning off LKA would just make everything much worse. Slow down and turn on the hazard lights if you must after a set time, but LKA should be on until that car comes to a complete stop. 3. The interval between physically touching the wheel should be much longer, like 2 or 3 minutes, especially on straight stretches of road. Maybe instead of requiring you to touch the wheel it should put up a message asking if you are paying attention and you can say Yes and you are good for another few minutes. That may end up being just as annoying, though.