Just wondering if you can have something resembling a routine while ILB?

I am currently feeding on demand with my 5wk old but have noticed that if we are unable to feed at certain times ie if Im driving etc, if he goes that extra bit longer he feeds better and settles better. I really dont think a strict routine is neccesary for feeding which is why I havent implemented one before now but the difference in him when demand fed vs approx amounts of time between feeds is amazing.

I guess what Im asking is does a baby generally end up working out their own 'routine' when demand feeding? Should I just wait and see before I go trying some sort of semi-timed feed schedule?