I am of the understanding the 2022 model is substantially the same as my 2024 model.
That said, my experience with the BlueCruise sounds very similar to your description during driving non-interstate or perhaps even on the interstate with inclement conditions such as a sharp curve, construction, bad lane markings or severe weather. But whenever the system reverts to "both hands on the wheel", I feel BlueCruise is still functioning or at least it feels like it is assisting through the steering wheel. There is no change to the adaptive cruise control maintaining speed or distance to the traffic ahead. It's as if BlueCruise is not confident of being able to provide full assistance. In general it will revert back to full hands-free assistance in a minute or two. On occasion it will announce "Cancelling" and turn off BlueCruise but resume shortly afterwards.
I am not impressed with the lane centering during BlueCruise operation. When in the right hand lane of a divided highway it appears to favor the center line to the left even with traffic in the left when they are passing me - where I would typically prefer to favor the opposite side away from traffic when I am being passed. When in the left lane of a typical divided highway it appears to favor the center line to the left even when passing traffic - where I would typically prefer to favor the opposite side away from the traffic I am passing. In rare instances where I am in the center lane of a divided highway with 3 or more travel lanes, the lane centering appears to ping-pong from side to side, usually to the outside of a curve. God forbid you have BlueCruise on in a construction zone with k-rails or barrels on either side - it is way to close for my comfort!
I feel with today's technology there is no reason the vehicle couldn't do a better job at lane centering. Heck it should easily outperform a typical driver (maybe I'm a better driver than most? LOL). I would think it should be able to track the lines and keep the vehicle spot on center within perhaps a couple inches of tolerance?! Hands-free?? Ha, I don't think so - I almost always have at least one hand on the wheel during BlueCruise and I am constantly providing a steering bias to keep the vehicle where I want it.
I have come to believe it is a matter of trust. I do not trust the lane centering capability except perhaps on a flat straight open stretch of divided highway with zero traffic! And... I think that is being done on purpose - for safety. Ford/Lincoln does not want you to have complete trust in the driver assistance functions. They would prefer to be able to advertise hands-free self driving without you trusting the technology to the point of exposing them to liability.
As for the phone disconnecting, the only time I have noted such behavior is when I am parked and browsing on the phone. It seems to switch audio to the phone if there is any app content with audio and I have to constantly change the audio function on the center screen back to FM or whatever I was listening to. For the record, this is not android wireless - I use
CarPlay with an iPhone.