1. Assuming you are installing manually, go to your game's installation directory, the folder named Cyberpunk2077. (Likely something like Steam\steamapps\common\Cyberpunk 2077)
2. Look for the folder called r6 and open it.
3. Inside the r6 folder you should see a few more subfolders. Open the folder called input.
4. Inside the input folder, find the file called 'auto_drive.xml'. Right click on this file and select open with -> notepad.
5. Now that you have the auto_drive.xml file opened in notepad, look for the line (line 17) where it says <button id="IK_V" />
6. Where it says "IK_V" is the button map for the toggle auto drive function. The Input Key name list link in the mod author's pinned post has a list of what you would need to change that to in order to change the keybinding to a desired key.
7. Example 1: If you wanted to change toggle auto drive to your left shift key, you would replace <button id="IK_V" /> with <button id="IK_LShift" />
8. Example 2: If you wanted to change toggle auto drive to your N key, you would replace <button id="IK_V" /> with <button id="IK_N" />
9. Notice how in both of those examples I leave the quotations and IK alone, just changing what was originally 'V' with the desired key using the format the mod author listed.
10. Save the edited file in notepad and close out.
11. Open your game, get in a car, mark an icon on your map, and press the key that you rebinded the auto drive toggle to.

Side-note of step 1: If you are not installing manually and are using a manager like MO2 or vortex, you would find the location where your mods are installed through that before going to step 2. (I don't use vortex so I wouldn't be able to say if that uses a virtual file system or moves things in and out of the actual game directory).

Note: Make the changes and save the file while the game is not running. I am 99.99% sure that any changes you make to the file in notepad with the game running would only apply if the game is closed and started again.

Of course you need to consider what your current keybindings are to determine what key you choose, my examples were just randomly selected from the list.
Credits: Explanation by TSND

Due to the character limit for comments, I have turned it into an article and made some changes. by noborudesu.