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I'm not sure why the Android Browser doesn't auto rotate by default. Instead they have a "Flip Orientation" menu item that lets you toggle your default orientation. Pretty useless overall. Anyhow, a quick hack in the Browser source code let me enable auto rotation via the G-Sensor.
The change is really trivial. In the BrowserActivity.onCreate, I hard coded the orientation to ActivityInfo.SCREEN_ORIENTATION_SENSOR instead of pulling it from a preferences setting.
The downside is that the flip orientation menu item no longer works. Not that I care: I (and probably most people) never used it. So it is a hack, but oh well. If I'm motivated I'll put in a proper fix.
Installation Instructions (you must have root access):