"Is Auto-pilot harsh on brakes?"
IMHO, with a setting of 5 on distance keeping, except for the occasional car/truck slowing as the pull out of my lane, the vehicle seems to utilize the regenerative braking in the same manner I do manually, reducing speed gradually to allow the most absorption of energy back into the motors and the battery. I seldom see the car jump on the brakes to reduce speed at that distance. Closer settings though, yes the braking appears more last minute oriented.
I believe that only upon instant braking (either manually or TACC) would the brakes be taxed more via either driver or AP.
However, because they are such fun vehicles to drive and going up winding mountain and seaboard roads is likely more common and drivers like to push the limits of their Teslas (especially those that crave the performance metrics of the P/D/L/I (Performance, Dual, Ludicrous, Insane) features of an all electric vehicle, I could understand the additional wear and shortened life of the rotors.
Selecting the proper combo of tires, rims, and suspension for the type of driving you intend to do is important to getting the most out of your EV, whether you like it for performance, range or just awesome looks!