My form has been autosaved along the way. Do I publish to have the final form

Do you mean to ask that if it is required to publish the form to get the final version? If the form is being saved after you edit either by clicking on Save button or Auto-saved, the last saved version can be accessed by using the direct form URL. 

If you do not have the form URL, you may get it from the Publish wizard.

If you want to publish the form on your web page, you may embed it by following the guide below:

https://www.jotform.com/help/34-Adding-a-form-to-a-web-page

Hope this information helps! Let us know if you are referring something different. We will be happy to help.