For auto pilot I never felt safe using it.
There is a jet I mind trick needed. Play attention and when it seems dangerous engage your In millisecond that autopilot crosses into the danger zone.
It other words the time it take the brain to shift from observation to fully engage is not zero. It is that sequence I don’t think is safe, even if paying attention and anticipation that the car is not going to be safe. It is a bit like teaching a 15 year old driver to drive. Or maybe it just reminds me of those scary times.