I work for the company that built the underlying Auto Haptic feature. The feature is designed to make sure users have control over the Auto Haptic feature so they can only turn it on for apps they want, but it looks like the capability has been eliminated in some carrier's (not all of them) updates to Jelly Bean.
We've gone ahead and put a simple widget to solve this problem. It doesn't have the richness of settings, but does allow you to turn Auto Haptics on and off (once you download the widget, you need to reboot for it to start to work).
Please go to Google Play and search for "Auto Haptic Widget", or go to this link:
I hope it solves your problem in the interim. We've notified Samsung and we expect they will be working with the carriers to provide a handset update that restores the correct user settings soon, but in the meantime this should ensure the feature doesn't cause you any more trouble.
You can reach us at Immersion through the GooglePlay support.