I would say yes to this idea on two conditions:
- The match length was increased in proportion to the auton time increase (Don't reduce driver time to accommodate an auton >15 seconds)
- Allow robots to interact during auton. Some of the most exciting parts of matches from older games were during auton because other teams could attempt to disrupt opponents auton. Granted it would depend on the game, but I think its crucial to making any long auton interesting for spectators.