Is this just for charging in your car?
Try the following.
Download and install nova launcher (if you don't already have it - you may lose some touchwiz features)
Go into the phones settings, turn on auto rotate.
Create a tasker profile with the context as State/sensor/orientation/left or right side. + Power any. Then go on to create your task, usually car mode, display brightness, volumes etc.
Taskers orientation is only available as a profile state, not as a task option, unless you simply just want to enable auto rotation, which can be done in the task. Just not able to "lock" it, it'll go off the sensor.