Changing direction with the rudder

Do you use the rudder in addition to the ailerons to change direction during normal flight? Which is correct?

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Especially if autopilot is on - definitely not.

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I use the rudder only on the ground and in crosswinds

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But in a three-axis autopilot, the rudder is also controlled by the autopilot.

Yeah. Small movements and trimming to keep the aircraft stable. Definitely not full deflection.

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