I would rather say that your definition of "autonomous" appears rather wide? I wouldn't call e.g. a heat-seeking or radar-guided missile "autonomous". I would say that "autonomous" implies the drone/missile/torpedo/etc. can somehow adapt to changing conditions rather than follow a simple pre-programmed path.

You can have very simple "autonomous" systems, for example "Move towards this GPS coordinate, unless you lose connection, in which case fall back to inertial guidance until you either reach the target or re-acquire connection". Another example could be "Home in on the heat signature, unless you lose the signal, in which case execute some planned manoeuvres to re-acquire the signature". Yet another could be "Move towards target, but if you detect that you're being tracked by radar, or detect an AA launch, conduct evasive manoeuvres / move closer to the ground, etc."

All the above imply that the drone / missile / torpedo / whatever is capable of responding to changes in the surrounding environment. To my knowledge, there were no WWII-era weapons capable of doing that. A typical WWII-torpedo was "Start the propeller and keep going at maximum speed until the detonator is triggered or you run out of fuel and sink." I can't really see how that would count as autonomous.