I guess what I'm looking for is a relaxed position, left elbow on the window sill with hand lightly covering the top steering wheel. Kind of what we do on long freeway drives. I drive a manual 3-series right now and it's a PITA in stop/go traffic. So no, not looking to go to sleep any time soon
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With the current scrutiny they're under, I'm not totally convinced that the nagging will be more relaxed in the future. Even with full autonomy they will have to find a way around the radar lacking fidelity to reliably detect non-moving objects. They would have to incorporate new technology (using camera to distinguish non-moving objects in current lane?) or add eye-tracking capabilities to keep the nagging at bay.