If you are pushing on the gas pedal, the car can only steer and has no control over speed.
This weird sort of hybrid riding where the car is controlling the steering and the driver is controlling the speed puts the car in an untenable situation. It is a driver with no brakes and no control over the gas pedal.
Maybe Tesla should disable this mode entirely. Tesla (very reasonably) limits speeds to 5MPH over the speed limit when you are in autosteer mode, so lots of people like the ability to bypass the speed. Personally, I very much like being able to push the speed when it's reasonably safe to do so. If you are operating the system as designed, it's no less safe than cruise control.