Autopilot includes two features.
1. Traffic Aware Cruise Control (TACC) or Tesla's fancy name for Active Cruise / Radar Cruise. This works decently. It will slow to a stop and start up all on it's own. I say decently and not excellently because the slowdowns can be abrupt.
2. Auto Steer. This can only be used when TACC is set. This is the feature which keeps you in your lane without your intervention. You will need to keep your hand on the wheel to either apply a slight torque every few seconds or use the steering wheel scroll switches or it will nag you and finally disengage. This is an extremely useful feature in traffic.
All other features are now part of Full Self Driving, although Enhanced Auto Pilot (EAP) was once offered and contained Auto Park, Summon, Smart Summon, Navigate on Autopilot, Auto lane change, etc. That was offered last year as a stand alone.
I had a 2018 M3 and had EAP as there was no basic autopilot then. When I got my 2020 I stuck with standard AP and that's what I use in traffic. It works very well. It's slightly annoying that when you make lane changes, you disengage AS (but not TACC) and then when done with your lane change you must re-engage AS every time by double pressing the stalk. That's not as annoying as the "bong bong" sound you hear every single time.
Hope this helps.