I was involved early 2016 in discussions with regards to a fully automated drill rig based on an upgrade of the Swift10 jack up.
At the time, Swift and Herrenknecht were working on the Swift 20 concept - a 450 t Herrenknecht Vertical with the capacity to run doubles of range 2 drill pipe. An integrated bucking unit is located on the catwalk to make up the pipe horizontally. The pipe was handled by an automated horizontal to vertical pipe handling system. As far as I am aware, this concept is currently mothballed due to the market conditions but the technology is sound.
Herrenknecht also provided 2 TI-350 rigs for onshore Brazil (Petrobras' Bahia 2009 - 2016). The drill pipe is made up in doubles and then transports them from horizontal to the vertical well centre position. The well diameters were from 17 1/2" to 8 1/2".