As far as I can see autofs is still not containerized in Linux kernel (it has no FS_USERNS_MOUNT flag), which means that you can’t mount autofs inside the container. That’s why you are getting this error.
It will need kernel work. I don’t see a fundamental reason why it would be unsafe to allow it, so it’s likely just a case of nobody having gotten around to implementing it.
A workaround could be to use a privileged container (security.privileged=true) but that comes with some very serious security implications and should only ever be considered if you’re effectively happy with whoever gets root inside of that container to be able to break out and get root on your host system.
The alternative otherwise would be to use a LXD VM instead. Unfortunately there’s no automated way to go from a container to a VM due to containers lacking a full partition table, kernel, bootloader, …