The annoying thing about the hand back on wheel message is that it can come up falsely sometimes when just driving on a straight road with your hands on the wheel. I don't know if this has improved in the Facelift version though. I've not seen any coding related to this.
The Facelift cars allow lane assist at slow speeds as well though, and call it 'Traffic Jam Assist' when used in combination with the ACC. It might be possible on the pre Facelift cars, but again I've not seen anything around it unfortunately.