Mine often urges me to "take control of the steering", even though I am holding the steering wheel.

If you touch the brake it turns the coasting off.

Mine rarely works. Has to be a very long run before it does or for the battery to have been charged by my charger. I do mostly short runs but even on long runs it rarely works. I suspect the "intelligent" charging system isn't really that great. While the car was still under warranty I ask...