but then if you strictly follow this rule, what is the benefit of autopilot?Indeed. When reading Tesla's statement,
"The Palo Alto-based automaker, led by Elon Musk, has said it repeatedly warns drivers to stay alert, keep their hands on the wheel and maintain control of their vehicle at all times while using the Autopilot system."
...one can't help but think, "then WTF is it good for, if I still have to drive the car myself while using it?"
Supervising autopilot to the degree required to correct sudden mistakes seems, to me, to be probably very close to the mental load of the details of steering yourself.
I'd say the mental load is higher than manually driving --- not unlike being a driving instructor to a student driver who is OK most of the time but occasionally makes a possibly fatal mistake that you need to watch out for and quickly correct. Normally, a car will go in a straight line with no steering input, but the autopilot almost "has a mind of its own" and can steer itself in the wrong direction.
This is subtly different from cruise control, which lets you concentrate on steering and rest your foot on the brake so you can use it quickly if needed. Cruise control doesn't encourage lowering attention, but enhances it.