And how would this "autonomy" be different from full sovereignty? And in case it were different, to which superior body would this autonomy be subjected? And who would have democratic control of this superior body?
Because if the answers are respectively 'different', 'Israel' and '(current) Israeli citizens', then what you're talking about is proper, institutionalized apartheid.
The situation now is that vast parts of the West Bank are ultimately under Israel's control- Israel can decide to appropriate portions of land and build on it, build infrastructure for the exclusive use of settlers, and deploys the army to protect Israeli squatters from Palestinians trying to retrieve their possessions. Of course the settlers are allowed to vote for Israel's government, while the non-Israeli Palestinians living all around them have no rights and cannot vote for the government that has these powers on their land. This is de facto apartheid.
You're saying that this is "not far from" the ideal solution for you, and you'd be happy to turn it into apartheid de jure?
This problem can be easily solved: let everybody out, don't let anybody in, don't let them vote (as it happens with Israelis living in other countries). We did it twice: Sinai peninsula and Gaza Strip, we can do it again.
But this is very small problem. The real one is return of 2-5 millions of Palestinian refugees. Integrating them into Israel society would take time and effort.