I have to agree with the OP: the controls on the stalk violate a simple design rule: the same motion on the same control should never have two different effects. The downward tap will put you into Drive if you are stopped and in Park, but it will turn on TACC (and potentially accelerate you immediately) if you are stopped but in Drive. So if you are stopped at a traffic light or, more reasonably, a railroad crossing, and think you are in Park and hit the stalk to go into Drive, all of a sudden you are turning on TACC and can suddenly find yourself accelerating forward. (When I read about people swearing that they were trying to park and their car suddenly accelerated, I wonder if they didn't make this mistake). I also find myself pushing down the stalk when it starts to rain (because in my Subaru that turns on the wipers), and all of a sudden I am accelerating forward because I turned on TACC.
I think that as a minimum the controls should make specific sounds (audible feedback) when they turn on TACC and when they turn on auto-steer, so you don't have to look at the screen to see if they took effect or not.