Not if your foot is on the acceleratorI think they want it to go into Autopilot and not suddenly accelerate. Which it currently does if you're traveling well below the limit when you trigger AP (if there's no car in front of you).
Try it when you're on a slow approach to a roundabout (which AP has no idea how to handle). It's terrifying.
Yeah if you're doing lights or roundabouts, light tap on the brake to disengange then do your own thing to stop at light or navigate roundabout, then when at desired speed light press on accelerator and engage AP.
Similarly if you're on AP and see a car crossing the road in front of you, even once its passed the AP will usually suddenly slow you down, light press on accelerator will prevent this happening without fully disengaging AP