I've noticed it bothers me less when the "HDA" is activated, and also when traveling at low speeds in traffic jams. I was in a jam on our state turnpike this past weekend (5-25mph for a few miles). I had the cruise control on with HDA activated and barely ever touched the wheel/pedals. It basically drove itself through the jam....pretty amazing. It was the most relaxing traffic jam I've ever been in.
When driving at highway speeds on more curvy roads it will ask more often to keep hands on the wheel, which makes sense. Seems to be a good implementation and not just a simple timer.