While driving on autopilot to stop the nagging, simply rotate the audio level wheel up or down a bit.
This won’t affect the volume that much, but the nagging is over.
Also you can stop the nagging by either:
- Scrolling the speed wheel up or down (or follow distance in or out)
- Tapping the drive stalk down (right side of steering wheel)
- Or tugging (gently) on the steering wheel
Photo is from Tesla.com