TLDR:
Paper:
hasinoff-hdrnoise-2010.pdf (TLDR there: figure 4)
In ML:
- Enable bracketing, large EV step (say 5 stops), ISO shifting: Full, sequence 0++ (important)
- start at the exposure for highlights (e.g. 1/8000 ISO 100, or whatever Auto ETTR suggests)
- set max auto ISO limit in Canon menu (e.g. 3200)
- run the bracketing sequence
For the above numbers, this will give the following sequence:
1/8000 ISO 100
1/8000 ISO 3200
1/250 ISO 3200
1/8 ISO 3200
4" ISO 3200
...
Will explain the theory later. While it's by no means an optimal sequence in the sense described in the paper, I believe the above settings will give a very good approximation, so I'd definitely recommend giving it a try, even if the total exposure time is not an issue.
For hand-held bracketing, I'd recommend researching
this idea (gap-less exposures, technically possible, just didn't look too much into it).