Hi Kurt,
The AutoRP itself depends on the dense mode, so in common deployments with AutoRP, the sparse-dense is a must. However, you may work this around by using only sparse-mode and configuring ip pim autorp listener global configuration command on all your multicast routers. This command allows to propagate the AutoRP multicast traffic (224.0.1.39 and 224.0.1.40) over sparse-mode interfaces as if they were configured for sparse-dense mode.
Best regards,
Peter