You don't need to "jerk" the wheel. You only need to touch it gently. This is because level 2 is "hands on" system. Allegedly though even this will be going away with version 12.4 and from there on it's only the cabin camera that's monitoring you. It's debateable wether this is a good thing or not. Makes it easier to abuse the system.
No one is making any claims about how fast Mercedes Drive Pilot should go. Your accusation is disingenuous. I'm simply stating that it can't go over 40mph. That's pretty slow for a vehicle that can drive autonomously only on highways.