Yes, Autopilot(Standard on all Model 3's SR+ or higher) includes Traffic Aware Cruise Control(TACC) which allows you to set your follow distance from the car in front of you and it also includes Autosteer(currently in Beta) which allows your car to use the lane markers to center itself in the lane while on TACC.
Currently, all HW3 Model 3s also are able to see the "FSD visualizations" of traffic cones, stop lights, stop signs and road markers. It is not clear if these will continue to be displayed for Non-FSD cars(or if they will keep it enabled as a way to try to drive increased FSD sales).