The way I see it is as long as your driving is safe and controlled, no reason why you cannot drive with one hand on wheel, I do occasionally, and if driving instructors do as I have seen a few -then anyone else can
I wouldn't call it bad or poor driving unless car was not being controlled properly, speeding lately is more of a problem imo
It's easy to drive with one hand and keep proper control until it isn't.
Most of the time you don't need a high level of control and most of the time it's predictable when you won't. It's the other times when it matters.
I made it a habit a few years back to use both hands and I believe it has improved my driving, and in particular positioning on the road. Hard to say why - probably because I'm thinking about what I'm doing a bit more, and it's easier quickly to make adjustments when needed.
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