Autopilot: Includes TACC and Autosteer below.
Traffic-Aware Cruise Control: Matches the speed of your car to that of the surrounding traffic
Autosteer: Assists in steering within a clearly marked lane, and uses traffic-aware cruise control
Navigate on Autopilot (Beta): Actively guides your car from a highway’s on-ramp to off-ramp, including suggesting lane changes, navigating interchanges, automatically engaging the turn signal and taking the correct exit
Auto Lane Change: Assists in moving to an adjacent lane on the highway when Autosteer is engaged
So, Autopilot will not change lanes for you, just keep you in your lane. If you have the FSD Package with Auto Lane Change, you can change lanes by using your turn signal and the car will check blind spots and change for you. It will not make turns (such as a right or left turn at an intersection).
If you are on a city street, turning requires FSD Beta.