A lot of good reading but not all accurate.
Self adjusting brakes will self adjust with normal driving.
If they are loose enough to catch a click on the adjuster with a forward stop it will stay caught and adjust the next time you back up and set the brake. No need to deliberately go forward and back and set the brakes each time to adjust them.
If they don't stay adjusted properly with normal driving something is sticking, broken or just not working properly.