Tesla has never shown any data in the first place indicating that the nags decrease accidents or get people to pay more attention. There's no FMVSS requirement for steering wheel nags, nor is there even a requirement in the US, except in NY, for a driver to hold the wheel. While it makes sense to have standards to assure that a driver is paying attention, it shouldn't be a "seat of the pants" thing. Furthermore, the idea of imposing it on Tesla but nobody else, or requiring it only when Autopilot is on but saying that there's no need to check to see if drivers are paying attention at other times, makes no sense.
I'd love to see a requirement implemented for cars without any ADAS to assure that drivers are watching the road. It would be nice to see a check for the steering wheel that switches on an ADAS if it finds that the driver isn't holding the wheel, and then alerts the driver.