Well, your first question is probably an XTRAS problem. If a piece runs in development mode and not packaged mode, this is the first thing you should suspect. To fix your problem, you need to copy the XTRAS folder (located in your Authorware Program directory) into the same directory as your piece (if it is an EXE) or into the same directory as RunA5W.exe if it is packaged as an A5R file.
The autorun part is easy. You just create a text file called Autorun.inf and place it in the root directory of the CD. The file should contain a lines of text like this:
[autorun]
open=MyProgram.exe