Autonomous manufacturing systems can lead to greater flexibility and efficiency. Even in small and medium-sized enterprises (SME), where resources are limited, the introduction of autonomous units can have a significant impact. The use of heterogeneous autonomous mobile robots (AMR) not just for transportation but also for product handling as well as the autonomization of certain machines and workstations describe different levels of autonomy for physical units. In this case study, we investigate different levels of autonomy of a production system in SMEs. The goal is to minimize lead time. For this purpose, we combine methods of autonomous production control and sequencing with different autonomy levels of the production system. This is implemented using a hybrid simulation with multiple agents and discrete events. The results of the study illustrate a significant influence of autonomous manufacturing systems on increasing production efficiency in SMEs.