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It must not be much because when the message appears, all I do is put my hands at the 9:00 and 3:00 positions on the steering wheel and the message goes away. I do not make a deliberate effort to move the steering wheel.
 

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It's covered in the manual. Momentary press is 5 MPH, hold will increase up until you release it.
To be clear, pressing and holding the switch will increase cruise control speed by 1 mph until you release it.

SubaruOwnerTips on YT has many great videos on almost all the new features. He has a 2020 but they apply to the 2021 as well.
 
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