You should be able to get it to work. I think below is the way to do it (although I haven't tried it), its not exactly as per the document, but hopefully should achieve the outcome you require.
Don't include 192.168.128.0/24 or 192.168.129.0/24 in the AutoVPN (if you do it will certainly break)Configure a static route, 192.168.0.0/16, that points to the local next MPLS hop. So in the case of the 'left' side this would be 192.168.0.0/16 is via 192.168.128.249. This should be set to always available. Obviously this is great if you can summarize all the subnets on your MPLS WAN, or you'll have to add more specific subnets. It also assumes the subnets on the MPLS networks are only used for transit, no hosts.Configure the static route, 10.0.0.0/24, on the 'left' side with the next hop of 192.168.128.249. This should be available if a host responds, and the host should be 192.168.129.1 (i.e. the MPLS connection on the MX on 'right' side).
The theory is this: the 'always' static route ensures that the ping to test if the host is alive is always sent via the MPLS network. If that ping test fails then the 10.0.0.0/24 route will be removed, and traffic sent via the AutoVPN. However, when the AutoVPN is being used the 'left' side pings to the 192.168.129.1 will still be sent to the MPLS (even if it is a black-hole) and never via the AutoVPN since the 'left' side doesn't know that 192.168.129.0/24 is accessible via the AutoVPN.
I think that should get you working.
Forget that - the testing against a remote host doesn't work that way; the host has to be in the subnet specified in the static route (which won't work). Looks like you have to test against the next hop, which means you're only testing for a failure of the local link, not the path all the way through to the other side.
The alternative would be to turn this into a SD-WAN solution, but in that scenario you'd either need internet access from your MPLS cloud, or to configure one end as a VPN concentrator - which means another firewall (potentially MX) required.