The full automatic sequence is Pre-Wash for the selected time, spin, refill, Soak period, proceed through the Regular cycle with full wash time. Usage instructions direct the user to add powder or liquid detergent to the basket for the pre-wash and liquid detergent to the softener dispenser for the soak/main wash. Automatic dispensing of softener without additional attention isn't possible. Semi-automatic can be had if the user returns to add softener* after the pre-wash spin - before the main wash spin.
Starting at the Soak, of course, eliminates the Pre-Wash and associated spin ... and allows normal hands-off dispensing of softener.
I don't know the duration of the Soak period, perhaps someone else will answer on that point ... or it can be determined/inferred by comparing the arc-span of the Soak period to the wash time.
*The softener dispenser ideally should be rinsed to any clear liquid detergent residue.