There is a Youtube video out there of a guy who had a velcro ankle weight attached to the steering wheel. I believe it was a 2-3 pound weight. Anyway, he activates adaptive cruise with lane centering and the truck completely drives itself without the "keep hands on the wheel" warning. Anyway, not saying i have done this for hours on end while driving all over texas and oklahoma and that you can buy a compatable ankle weight at any Academy Sports location, but maybe a "hack" you want to check out.