I believe I've solved it? I think this was user error! And kinda silly UI?

By default, the Touch Bar is set to change to change its functionality with
whatever app is open. In the case of AutoCAD, the "Help" icon is set to be
at the far left of the Touch Bar, right next to the ESC button (worst place
ever...) Like many users, I often have my left hand hovering somewhere
around that area and I think I may have been passing a finger close to the
Touch Bar which was setting off the Help icon.

I went to Preferences and changed the Touch Bar so that it no longer
changes per app, but always just displays a "Expanded Control Strip" which
is similar to the previous Macbook type strip (Brightness, Gather Windows,
etc).

So for now, it's been better-- try changing this setting and seeing if it
solves the issue? I'll keep an eye on this as well.