Autoscaling with Kubernetes daemonset
I think you can do this by Nodeselector. Firstly add a label for node selector in your daemonset config. Then label your nodes with the attached label. Now if you can set the autoscaling thresholds, it will be deployed on that node automatically on nodes that matches the label. Maybe you can tweak somehow to attach a label to your node when it is added to your pool. 

Also, with Kubernetes 1.6+, we have the feature of rolling update strategy which is far better than onDelete. 

Cheers