When I'm driving I'm either doing both speed and steering manually, or doing the full autopilot with autosteer. I almost never drive with just TACC engaged...I'd rather deal with just two modes of driving instead of three.When autosteer is on, I'm usually holding the steering wheel with one hand near 6 o'clock, holding it just tight enough to feel the steering wheel adjustments. (This is similar to what @Doug_G posted above.) I also have a habit of every so often (tens of seconds?) gently wiggling the steering wheel...the amount of resistance I get tells me if autosteer is still engaged or not.Also if I'm using autosteer, I'm usually (casually, not in a paranoid way like some people up thread have implied is necessary) checking the operation of autopilot in general to make sure it's doing the right thing.Bruce.