Bit of history and context might be helpful for some readers...
Back in the days of AP1, there was basically only one set of Autopilot features, which included TACC, autosteer, auto-lane change (which is the feature being discussed here), summon, autopark, and maybe a few other things. Some of these features were available in the initial software rollout in October 2015 and some were developed later, but you either had the entire package or nothing. It was either called "Tech Package with Autopilot" or "Autopilot Convenience Features" depending on when you ordered. I think it shows up now as "Highway Autopilot" in my car (2015 S85D).
Starting with AP2, you could either have no Autopilot, Enhanced Autopilot (roughly the same as AP1 Autopilot), or FSD (which for a long time added nothing). The key here was that none of the autosteer, etc. features were included in the base configuration.
Nowadays (not sure starting when), all Teslas come with some basic Autopilot capability included (now called Autopilot), which gives basically TACC and autosteer. All of the other functionality, including auto-lane change, NOA, Summon, Smart Summon, etc. is rolled into the FSD package (whether you're in the "FSD beta" or not).
So those of us coming from much older Teslas, it looks like today's Autopilot package does less than AP1 Autopilot did. We have to buy/subscribe to the FSD package (even if we don't care about "FSD beta" or the FSD feature) to get things like auto-lane change, summon, etc. that used to be included.
Hope that helps,
Bruce.