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On my Niro the "hands on wheel" symbol only appears if I haven't moved the wheel for 15 seconds. It will do it irrespective of how many hands I use to hold the wheel.
That could be where you are holding the wheel. It seems you need to hold away from the spokes. If you just hook your hand around a spoke, it does not sense you are holding the wheel.

Mine used to beep all the time when I 1st got it. Think most were due to LKA. Now after 6 months I seem to have been trained to drive within the lines as I very rarely get any beeps now.
 
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