is it possible to switch between R/C and autonomous without having to take the bot apart
You’d have to build/program it that way.
For R/C, use a radio channel controlled by one of the toggle switches on the top of the (6ch) radio. If a PS2 control, use a button to toggle in/out.
Software will need to use the status of the button or toggle switch channel to then select where the heading/speed, etc input comes from (remote or autonomous).
Alan KM6VV
Many thanks will make the R/C part then program that when I have more experience with coding