There is a slight difference between autopilot and non-autopilot cars whereby I believe the autopilot headliner is about 1/4" smaller where the cover for the AP electronics is in the front. Accordingly they are technically a different and non-interchangeable part. However I'm not sure that means what you are proposing can't be done....
However I think the older headliner would be too large for an autopilot car
Also I think the edging and sound isolation is different in the newer version