So just to be sure, does it mean that 'devs' is for drivers that are for hardware that auto configure, while 'expansion' is for drivers that are for hardware that do not auto configure? (such as some accelerator cards?)
No. The Devs directory is for files ending in .device, just like Libs is for .library. Expansion is for drivers which *could* be in an autoconfig ROM but aren't. For example the XSurfIDE driver contains 2nd.scsi.device which would normally go into Devs.
Drivers in Expansion *do* autoconfig, just not automatically through a ROM, but started manually by the Binddrivers command.
Drivers in Devs never do autoconfig. In order to use them either a program has to call them through OpenDevice() or a Mountlist specifying Device=name.device has to be created and mounted.
Files in subdirectories of Devs are not drivers in the narrow sense. They are just "descriptors" which are activated during startup. Most of them don't even contain code (like DosDrivers and KeyMaps).