I would love it (which should come as no surprise), but the challenge is always to balance the difficulty vs. reward curve. You want to award some points for just moving in a quasi controlled way (an achievable goal for 95% of FRC teams), while encouraging teams to go above and beyond with clever programming or use of sensors. FIRST has done a good job of doing this in recent years and I hope that streak continues.
Endgame auto mode would only work IMO if there were safe zones throughout the match (or areas that became safe zones X seconds before auto engages). Moreover, any team should be allowed to E-stop at any time during an end-game auto, since there are so many more variables at the end of the match and you should NEVER be punished for being ambitious. (For that matter, I would love to be able to E-stop beginning of match auto modes as well
).