I think that maybe to get what you want –that WP does not set the permalink until you are ready to publish the post (it will have to be set before you publish so that it has a way to get called from the database)– that you are going to have to turn off autosaving drafts. Even then, I think WP will start a default a permalink based on the title, and you will have to override it. But as the other poster has pointed out, it’s not hard or time-consuming to edit the defaulted permalink.
Another option might be to look at setting a custom permalink structure, so that WP automatically creates the permalink you are wanting. That will depend on whether the things you are wanting to include are “automate-able”. If they are more idosyncratic–that is, they vary on non-predictable factors (for example, the category is added to the slug, but only for some categories)– then I think you are stuck overriding the default manually. Sorry.