On AP1 I have to verify the lane is clear myself before initiating an auto lane change per the manual. So, its sort of auto.
Does AP2 have further capabilities with this over AP1? I am too chicken to test it with the AP 2 loaner I have
Not yet. Completely autonomous lane changes were promised for eAP, and that's the main reason for the rear/side camera pair, but Tesla hasn't released that code yet.