I drive a Tesla and don't use the self-steering feature exactly because of this. What I do instead is enable the warnings from the same software like the ones you describe. That is actually a large gain. I'm already paying attention as I'm driving the car at all times and the software helps me catch things I haven't noticed for some reason. Those features seem really well done as the false positives are not too frequent and just a nuisance but the warnings are often valuable.