Yes, its called "travel assist" on the Mk8... it does adaptive cruise, with lane centring and it does steer and brake and you can take your hands off of the wheel.... for about 5 seconds before it pings warnings and disables itself.
What you have to watch out for though is when unexpectedly the lane markings become tricky for it to spot, you'll see the display change showing it can't see the lines and it will deactivate....
It can happen if the road markings become indistinct, you get some road works or its raining/snowing or even the sun is too low...
Like with just ACC on (which the Mk8 does as well), its great and it does help you be less tired when you get somewhere but you can't switch off completely and need to be able to react at any time....