Only if you catch it in time, before you've completely run out space. `apt autoremove` will crash if there is not enough space on the disk.
Which would be another worthwhile fix: some way to run `apt remove` or `apt autoremove` in a zero free-space environment. It could detect it and pick pick data somewhere (like /usr/src) to persist to memory temporarily while it works, then replace.
I've never noticed autoremove removing old kernel images in /boot.