AAI got updated. In this blueprint I try to take advantage of that. Instead of sending a hauler to x,y coordinates, I send it to either a miner or depot depending on status. In this crude hauler loop the first hauler will move to the first miner, wait till full and move to first depot. The second hauler will go to second miner and second depot and so on. Tested with 12 haulers but more should be possible.
To make it work: Adjust vehicle depot settings to accept mined products and provide fuel. Constrain haulers to what they are supposed to haul /provide. Adjust depot id number after replacing one. Change MK V miner IDs to what you use in the circuits. As long as you provide enough fuel in your depots, haulers should keep going until everything mined.