\documentclass{article}
\usepackage{hyperref}
\begin{document}
\section{Introduction}\label{sec:intro}
\section{Motivation}\label{sec:motivation}
\section{Conclusion}\label{sec:conclusion}
\subsection{nameref}\label{subsec:nameref}
Nameref for sections \nameref{sec:intro} and \nameref{sec:motivation}.
And subsections \nameref{subsec:nameref} and \nameref{subsec:autoref}.
\subsection{autoref}\label{subsec:autoref}
Autoref for \autoref{sec:intro} and \autoref{sec:motivation}.
And also \autoref{subsec:nameref} and \autoref{subsec:autoref}.
These two should fail gracefully: \nameref{sec:fail} and \autoref{sec:fail}.
\end{document}