yeah, depends on the road. Some be waaaayyy too bumpy. But. The very nature of riding is a little out on the edge, no? I can relate to the safety attitude. Still cringe at seeing someone riding in a tank top, shorts and flip flops. But letting go once in a while...... eh
I always cover my controls and pull my feet back to right beside brake and shifter in heavy traffic or town. Maybe heel on the boards and toes on the hi way pegs. Get myself in a ready to react position when a car comes up and could go in front of me. But out in the rural areas I live and ride mostly in, sprawled out and yeah, one hand on the bars sometimes. Isn't that what the cruise control is for?
Followed another rider for about 60 miles not long ago. We just ended up beside each other coming out of the city. Every time he caught up with someone or started down a long hill he would shake both hands, loosen them up.
Good points though. Stay safe. Still cringe as well riding with friends that go no helmet. Granted mine is not the top notch protection, half helmet. But just don't feel right with no hard hat.
Your mileage may vary