Yes, CMC will smooth corrections on Autonomous… But, As Autonomous you are inputting new movement at the same time as correction is being interpolated. Your framerate also affects the smoothness. Higher is better.
You can also adjust the smoothing in the CMC networking section. Be sure to read the definitions of each parameter before modifying any. Some work with Exponential mode, others Linear. Some are also listen server specific.
You should read through the CMC docs. A detailed overview of how it works should get your head wrapped around it.