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Coupled with OPs observation, I'm gonna guess it only auto-collects either visible RUs, or maybe also leaves out RUs from debris?
Note, even though the game does do some auto-harvesting when you warp away to the next mission, it doesn't harvest all resources (sometimes you will miss out on thousands of RU!). So, you are better off harvesting manually. You can alt-tab the game and it will keep running in the background. I usually go watch some youtube videos or browse the internet while harvesting.
HW1 didn't have unlimited build amounts, but did have unlimited capture, which was fun if not useful after a certain point. There was an alternate game among the congniscenti about having the biggest fleet at the end, reflecting capture tactics.
I done some testing and it seems like if it will not auto collect resources that are not scouted. Even debris from destroyed capital ships are collected. I m guessing its still pretty buggy right now.