LKAS usually steers for about 20 seconds until you get the Steering required warning.
A few days ago the warning blinked once and then continued steering for another 20 seconds without me giving any steering inout. These repeated itself 3 times.
Also during that drive the LKAS got engaged fir at least 3 minutes uninterrupted.
I cannot reproduce the “bug”, but it happened several other days randomly.
Has anybody else experienced this?

 

Nope.

 

I usually get the put your hands on the steering wheel warning when the system can't detect when I'm just using one hand. I just wiggle the steering wheel to make it go away.

 

I tested the LKAS of Acura and Nissan. Lets just say the Acura version is safer. OP, you should be happy the system wants to steer itself without your input, unlike the Nissan's system I have tested where it decided to slam the brakes (very hard) if driver ignores the warning (system should turn off like the Acura version, but not slam the dang brakes during heavy traffic).