Imagine AI puts you into a separated oncoming traffic lane when visibility is extremely low (a few meters) and then disengages. It might take you quite a while to get out of such conundrum.
Standard autopilot doesn't do lane changes. Enhanced autopilot does, but requires the driver to acknowledge with the indicator stalk.
I know this was just an example scenario and your point is broader, but I'm struggling to think of another circumstance where autopilot is at fault 30 seconds post disengage, as it's effectively just a fancy adaptive cruise control.
Unless you are referring to these [0] incidents from 2016, before FSD was released. That was Tesla Autopilot (which comes standard on all Tesla vehicles now).
Also, FSD uses active camera monitoring to make sure the driver is paying attention, so no you can't sleep in your while FSD is activated.