With the 0.5 second hidden timer to auto-shot, and kill command able to get in it's way, wouldn't it be optimal to always kill command after an auto-shot, or simply along with your steady shot?
This macro could do it...
/cast Kill Command
/stopcasting
/cast Steady Shot
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Well, the macro i'm using (as a survival build, though, but i find that irrelevant, unless the BM haste talent may have some sidefects i didn't forsee) is something in the lines of
/castsequence reset=3 Steady Shot, Auto Shot
/cast [exists,target=pettarget] Kill Command
From what i can tell, it's quite effective (especially that KC doesn't trigger a global cooldown anymore), and it will not allow for firing a steady shot before the autoshot cycle has been finished. Also, if either of the shots crits, it will automatically proc a KC.
EDIT: The complete macro is
#showtooltip Steady Shot
/script UIErrorsFrame:Hide()
/castsequence reset=3 Steady Shot, Auto Shot
/cast [exists,target=pettarget] Kill Command
/script UIErrorsFrame:Clear(); UIErrorsFrame:Show()