Yes. I engaged the cruise control, and set it manually to a speed I liked (80 mph). The speed limit of the highway was 75. The HUD showed that HDA and lane keep were green and in control. If the vehicle stopped in traffic, HDA auto resumed when traffic started moving again. I did not have to press any buttons. The only thing it would not do is adjust the speed based on speed limit. If no traffic was in front of me, and the speed limit dropped from 75 to 60, I would still be going 80. I did test setting the speed limit to 75, and instead of showing my cruise control set speed, it just shows "AUTO". It would then change my speed to match the speed limit of the road.
Some of this conflicts with how the book reads, but it appears the only HDA feature that is deactivated by not matching speed is the auto speed adjustment. Auto start/stop still functions.