Is there a way I con configure my competition code to run Autonomous then driver controled like it would in a real competition so our group can practice?

If you keep your robot connected to the computer over VEXnet, you can use the "Competition Control" debug window. Go to Robot > Debug Windows > Competition Control.

We have code in our program that let's us press a button on the LCD screen to start Autonomous. You could do something similar (have two buttons on the joystick which when pressed start Autonomous):


Then if you want to be able to regain control after Autonomous is finished, add this at the end of you Autonomous code: (It'll start operator code when you hit a joystick; this has the benefit of not moving you into operator code prematurely during a competition, because the joysticks are disabled then)