Throw 'Voluntary' and 'Autonomous' on the Dung Heap of History
The distinction between 'voluntary' and 'autonomous' processes really isn't defensible any more. The idea was that some things are controlled by our consciousness, our will, and others are automatic, robotic, determined. The will part doesn't make sense (it seems more likely we have a delusion that we are in control of lifting our arm, but who that 'we' is and how much conscious control it has is highly suspect). The 'automatic' part is just sheer nonsense — it is very hard to find an organismic function that no person has the skill to change. A savant in a monastery in the Himalayas might be able to affect their body temperature and a lawyer in downtown New York might not be able to find their clavicle with both hands, let alone move it with precision. The 'voluntary' and 'autonomous' distinction doesn't make sense. It is like asking a dimmer switch whether it is on or off. Only worse.
With thanks to Alex Toenniges, who prodded me to improve this section! autisticsomatics.com