Audacity doesn’t have a feature called “Auto-record”. If you mean Sound Activated Recording in 1.3 Beta, it doesn’t have a pre-roll, so you can’t do much except possibly:
Reduce the activation level (move the slider left) at Transport > Sound Activation Level (this may or may not help)
If you are on Windows, change the “Host” to Windows DirectSound in the Devices Preferences, which might reduce the latency
In the Recording Preferences, reduce “Audio to buffer” slightly (this may cause dropouts) - the default is 100 ms
Does that mean it doesn’t help, or you don’t know what to change? What are you recording, with what equipment, and how is it connected to the computer? I don’t lose more than about 100 ms when doing Sound Activated recording. What results do you get if you do this latency test ?