When I tried this, I also ran into a bit of confusion about how it was meant to work. I also like to work in pencil only mode.
When I drew an autoshape and then held a finger down while the pencil was still down, it started snapping the rotation to constrained angles. Which is nice, its similar to what happens with transform. I didnt realize that in order to move the autoshape, I had to move the pencil and the held finger together. I found that gesture to be pretty tricky to actually do physically. It also kind of fought with the rotation snapping- the effect was that as I dragged the shape, the rotation was also snapping which seemed a bit weird. When I read that you could move the shape by holding another finger down, I thought that I would hold a finger on the screen, and then just drag the pencil to move the shape. That would be real intuitive I think, but it would have to replace the snap rotate feature since its the same gesture.
I'm not sure what the best solution here would be if you want both snap rotation and move while the pencil is still down. But it seems like mapping them to two separate gestures somehow might help. Here's a couple ideas that may or may not work: holding one finger could do rotation snapping, but maybe you could do a pinch gesture with the other hand to move it. two fingers would let you move/scale rotate, similar to the way zoom controls work. Might be a bit weird to have to hold the pencil to the screen the entire time though. Another idea is to toggle between rotating and translating modes by tapping with a finger, and while you are in rotate mode, holding a finger down would do snap rotate. This idea would be more clear if every time you toggled modes, it would pop up a little HUD message that said the mode, similar to when you change drawing modes or tools with a hotkey.
Those solution ideas are trying to keep the entire editing process while you are still holding the pencil down. It's definitely tricky to cram a lot of functions in during that state. Procreate has an optional edit mode button that comes up after you release the pencil when doing autoshapes, wich allows translating the stroke. It solves the problem but is less immediate and is a lot of UI which is no fun/more scope. I see the appeal of figuring out something intuitive that didnt have to resort an edit mode solution like procreate.