Jersey ResourceConfig doesn't auto discover but Application does?

When I have a very basic Application, Jersey auto discovers all the REST resources in the project and I don't have to manually register them:

import javax.ws.rs.ApplicationPath;
@ApplicationPath("/rest")
public class Application extends javax.ws.rs.core.Application {

}

But when I switch to using the Jersey specific ResourceConfig, auto discovery doesn't seem to work. I have to either #registerClasses() or add the package as shown below:

@ApplicationPath("rest")
public class ResourceConfig  extends org.glassfish.jersey.server.ResourceConfig {
    public ResourceConfig() {
        super();        
        register(RolesAllowedDynamicFeature.class);
        super.packages(true, "org.example");
    }
}

Is there a way to get ResourceConfig to auto discover the REST resources like Application without having to register the classes individually or having to add the application's package?