Auto-disengagement with steering motor

automatic disengagement when you try to turn the steering wheel by hand is very common in commercial systems even with electric steering motors. @Juliennorth created a current measuring based method to determine whether the motor rotates freely or you try to turn it by hand:
I think this could be a nice feature and would be very useful. I also created another version of this without the need to measure the voltage. Its described here: Documentation of my way to autosteer - #17 by Bennet
At the moment I use a second arduino for that, but it would be nice if it could be integrated in the official code to use a single arduino.
Greetings Bennet