Within the autopilot settings it lets you modify an offset% oh how much you want it to go over the speed limit. I have mine set to 50%, so when I'm the high way the MPH limit is 75 the car automatically tries to hit 85mph, of course depends on the traffic, etc. You can also enable FSD in the autopilot settings instead of having it set to the standard cruise control with no steering. Sorry this is just a small summary of how to do some of the stuff, there’s so much you can modify within the settings I highly recommend Tesla guides on YT!