Your basic assumption is only true if you have a write-only (or at least update-only) table. If you are deleting records the PKs for new records will be inserted non-sequentially (physically).
Efficiency of index inserts is almost always a secondary consideration and messing with it is a premature optimization antipattern. Have you considered the typically more significant issues of cardinality, key field lengths, cache sizes, etc.?
Using autoincrement surrogate PK's is usually suboptimal in the first place - there's usually a more useful unique key with real values that cluster in more meaningful ways. (And you can only cluster with innodb tables - you realize that, right?)
"Clustering" means the index essentially is the table. So it has a benefit when inserting a surrogate key because everything gets added to the end of the table because the next index value is always higher than any previous (as you already know.)
Unless you're filling holes created by deleted records. This may happen indirectly but can be an overhead issue because entire records must be relocated which is self-evidently more work than just moving index key values and pointers.
Clustered records don't provide much benefit for queries for single records so much as for ranges of records (e.g. items for an order, a customer, a user. If you can pick up several (or several hundred) records for the same user, for instance, that's worth clustering for. It's much less likely that records will be contiguously inserted for a single user (in most scenarios), so clustering chronologically doesn't help much. But your requirement may differ.
You didn't specify innodb so I answered primarily for myisam (the default) where only an autoincrement or chronological index would simulate clustering - there's no explicit option.