The autopilot will do its best until it reaches its limit, then it will trip out when it can’t cope anymore. If it could return to a normal state before tripping out, then it wouldn’t need to disconnect.
If I take control from the F/O, it’s likely to be because we’re in an unsatisfactory aircraft state which is my job to sort out.
Careful monitoring of the aircraft will give you a good idea of what to expect if you need to take control. If I see an increasing pitch attitude and decreasing airspeed while I’m PM, then I know my first action if I take over is likely to be stick forward.