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The auto hold function does the job of the footbrake pedal (and releases instantly once the accelerator pedal is pressed). If you want something to do the job of the handbrake, why not just use the handbrake? It is quite acceptable to bring the car to a stop using the footbrake as normal and once stationary, the handbrake can be applied and the brake pedal released, even with the car remaining in D. As would be expected, this then disengages the brake lights. When ready to go, a gentle push on the accelerator automatically and imperceptibly releases the handbrake, just like with auto hold where the main brakes are gently released.
To clear up an earlier point, opening the door with the car in drive will automatically trigger P to be engaged (as a safety feature).
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