The issues we have with AutoPIlot are ussualy
1) Web Proxy (we use Zscaler)
2) Meraki Content Filtering rule.
You can try putting Fiddler one of the AutoPIlot machine and see what URL it stuck on?That will give you a clue as to where to look.
Make sure to allow the URL Microsoft listed for AutoPilot to work. Also check that its not stuck on trying to do WIndows updates,