Current models of the H46 and H47 do have AFCS.
All the other tandem rotor helicopters also demonstrate tandem rotor flight characteristics. Some without any significant SAS/AFCS.
I've flown tandem configuration without augmentation many times in a non-emergency situation. Once in the hover, a change in one axis requires retrimming all other axes. There is no anticipation of a change in pedal due to incresed torque or due to pitch changes. However, the inherent instability in the configuration requires so much control that it may mask any anticipated control inputs.
Lifting to the hover requires significant longitudinal cyclic changes, even more so if you're doing a no hover or jump takeoff. This is to avoid putting excess pressure on oleos and because droop stops can be contacted with low power settings and undue cyclic movement.
The H46 sits level while taxiing, nose up in the hover, and level to nose down in forward flight. To take off without hover requires you increase collective while moving cyclic aft, to avoid pressure on the nose wheel oleo, then continue to increase collective while adding forward cyclic to set up for forward flight. The point that you change cyclic movement is approximately when it feels like the nose wheel is unloaded. During this evolution, you initially set your pedals as power is increased to eliminate yaw, then add a small amount of right pedal as you get into forward flight. I think this is more due to aerodynamic characteristics rather than any difference in torque between the heads.