"I feel that I am safer with autosteer on because a moment of inattention"

If one has "moments" of inattention significant enough to drift out of a lane or "drive into another vehicle", one should not be driving.

There is a current (Toyota ?) commercial where a young driver with her father is saved from mowing down a crosswalk full of pedestrians by some form of "auto stop" and the father proudly declares "it stopped for you". If you need that to avoid killing people, you should not be driving.

I don’t think it’s as black-and-white as you claim. Suppose a driver is inattentive at some moment with probability x, and conditions where inattentiveness would lead to a crash exist with probability y, then a probability of a crash at that moment is xy. Probably, both x and y are > 0 for all drivers, but xy could be low enough that an accident never occurs.

The driver has no reliable way of estimating x or y and therefore can’t judge the risk of their lack of attention causing a crash. Maybe they “shouldn’t” be driving according to this formula, but they don’t know that, and autosteer could save them from an accident.

Most likely, the presence of autopilot increases x and decreases y. We can’t tell which affect dominates by arguing on the internet. We need data.

>a moment of inattention will not cause the car to drift out of lane or drive into another vehicle.

Full automatic steer isn’t needed for this. Many many cars, for at least a decade, have had lane keep assist.

Now active lane keep assist is even more common, which steers you back into your lane, but doesn’t actively steer until you drift, preventing the main abuses of the feature.

And there's the conundrum. Autosteering can help you in a moment of inattention. But by nature it also encourages moments of inattention. It is far from clear that this is a net safety gain.