I have several NFC tags placed where I need them. The one in the car opens BT settings, so I can connect to the BT receiver that I put in the car to stream audio. My car has BT in the stereo for hands free, but not for streaming, so I added a Logitech BT receiver for that. Since the receiver I bought isn't designed for car, but for home, every time it loses power (turn car off) it loses it's "memory" at least partly. It doesn't automatically connect to the phone, like the car stereo hands free does. So I tap the NFC, tap yes, then tap the device in the list and it's connected.
On my laptop, I have one set to open the WiFi sharing. If I'm away from WiFi, I just tap and use the shortcut to turn on sharing. On my alarm clock at home, I have one to open sounds/notifications. Use it at night for turning off notifications, and in the morning to turn them back on.
I've done some tinkering with it, but this is what I use on a regular basis. Yes, it would be nice if they wouldn't require the "accept incoming whatever" message, but I do understand the thought process behind it being security. I think a good compromise between security and convenience would be to ask the first time and have a checkbox that says not to ask again for this particular tag. I'd think they could even do that with actually toggling the settings, instead of just opening the settings app. I like the idea of getting permission the first time, but would like that permission to carry forward.