Are there any audio notifications?
On all the LU systems there are audible tones associated with various events, in particular changes in speed. In theory it should be possible to drive looking out the window, and only looking at the speedometer when a tone is heard. Reality is rather different however...
A lot depends on how close to the target speed one wishes to drive. Again referring to the LU systems it's quite possible to drive bang on, in terms of both speed and brake rate, albeit requiring a fair amount of concentration and on the TBTC system in particular being subjected to numerous "overspeed immiment" warnings. However it is rather satisfying to be able to match, or even very slightly improve upon, ATO performance - whilst at the same time driving the train "properly" (e.g. paying attention to such little things as throwing the brakes fully off at the last second before stopping to achieve a seamless stop)!
The Central Line system achieves a rather more satisfactory balance between looking out the window and looking at the speedometer, as the stopping location will always be a fixed trackside object, in some cases a proper signal. The only snag is some of the signals and block marker boards are appallingly sited for sighting purposes!
Once again referring to the LU systems, perhaps the biggest issue with in-cab systems is that they're subject to quite a lot of software issues, where software design errors have found their way into the finished product but haven't been corrected for whatever reason. The Thales systems are notorious for this, although even the mature Central Line system still has things which aren't supposed to happen, and are just put down to "that's how it is". The Northern has so many issues it does make driving an "interesting" experience, although like with any signalling the driver will eventually get used to it and drive accordingly - just like with signals where drivers get used to how they work, although a signal flapping to red for a second would raise eyebrows, whereas Thales just dismiss it as a "blip"!