You're talking individual types here and of the four large aircraft types I've flown, only one of those didn't have an autopilot rudder channel (747 - both classic and -400).
The 747 does have a yaw damper which also adds a rudder input to prevent adverse yaw in some circumstances. The 747 has two sets of ailerons, inboard and outboard. Only the inboard ones are used at higher speeds as a result of wing twisting and possible aileron reversal. On the classic, the outboards become active when the flaps are selected, on the 744 at 238 knots.