In the US anyway (though the OP isn't there)
Basic autopilot (the thing that has come free on new Teslas for a couple years now) only does two things-
Autosteer (stays in your single lane as long as there's lane markings- and is intended only for use on controlled access divided freeways)
and
TACC- traffic aware cruise control. Will maintain a set speed and follow distance, adjusting for vehicles ahead of you going slower or not.
That's it.
Every other ADAS feature (autopark, summon, enhanced summon, auto lane change, reacting to red lights and stop signs, etc- plus the future feature of city streets driving) requires FSD (either purchase or subscription)
NOTE: Cars bought before roughly March 2019 in the US) had a different distribution of features available- by default they came with nothing. For one price you could buy Enhanced Autopilot (EAP) which included everything currently available EXCEPT the stop light/stop sign behavior (and the future city streets driving)... then for an added cost you could add FSD which gave you the rest.
OUTSIDE of the US, I've read, EAP is still available in some places, but don't recall exactly where.