Often you disengage from FSD beta as it does crazy things with both steering and acceleration. But disengaging with steering wheel leaves TACC on, which I find very annoying and potentially dangerous. So I now have this automatism where every time I disengage with the steering wheel, I shift up the gear stalk up at the same time to disengage TACC. But this automatism put my in a very dangerous situation today: the car was waiting for an unprotected left turn, then it started a move while a car was coming in the opposite lane. So I took back control with both steering wheels and brakes to stop, and I mechanically shifted the gear stalk up… but doing so while stopped with my foot on the brake, it actually engaged the Reverse! I got then ready to accelerate hard to fit in a tight cap, but with the Reverse on and with one car just behind me!! Fortunately at the last second I wondered why the back camera was on, and I realised I was on Reverse, but this was a dangerous near miss.
So the other question is: is it safe to use the gearing stalk both for switching gears and also activating/disengaging TACC/FSD?

Does anyone has similar concerns?