I did this once (drafting a few semis at 55mph), varying between distance setting 3 and short stints at 1. I was on a road trip back to SF from LA, and wanted to avoid stopping before Harris Ranch. This was before going up the hills out of the LA basin. It worked. But the threat of catching a rock chip (at a minimum) was a bit much after a while.
And eventually, the last semi driver made it clear he was not enjoying it, and frankly, I get it.
He has no idea what that car is doing back there, nor should he be expected to trust how you use that car, or its advanced systems. In the end, AP is not infallible, and we should no treat as such. One small glitch, and everyone's day gets much longer. And even if there is no damage on the truck, he is on the hook for whatever follows (police report, insurance, injuries to others, etc.) Hey, it may not even be his truck, or his trailer. And it is definitely his livelihood and his schedule. Time is money in that business.