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\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}