First of all please know I do not have a CR-10 but I do know it uses external slicer applications.

So, yes, AutoCAD will output a file in .STL format. It may have a description of "Stereo Lithography".

It is the 3D model that you want to output from AutoCAD, not a 2D drawing.
Also, the model should be solid as opposed to surfaces only.
Be sure to import the file back into AutoCAD to make sure it looks like what you expect.

The next step is to check for the need for supports.
I suggest Meshmixer primarily for post-export processing.
Meshmixer does a fairly good job of making supports or changes to .STL files.
Meshmixer is not always required.

What does need to happened is to convert your .STL file to a machine code that the printer understands.
These are "slicers". Cura and Simply3D are two examples of slicers. I am not sure what slicer CR-10 recommends.
Anyway, the slicer application is where the settings specific to your printers are managed.
In other words, the .STL file is a generic solid 3D model made up of little triangles.
And this closed-boundary triangle file (.STL) gets turned into a file that tells -your- printer what to do based on settings in the slicer app.
The output file from the slicer is sent to the 3D printer and the printer acts on it.

Slicers will also manage certain requirements for successful prints. There are things called supports and rafts that also need understanding.
Basically, there are standard routines in the slicer applications that help you stick the 3D print to the build plate and also makes sure you are not printing in thin air.
Supports have to be printed to make sure things like outstretched arms, for instance, in the print don't just make balls of filament because it has nothing to -rest- on.

I have the advantage of using a closed-loop system. One available slicer and a small subset of options.
The 3D Systems Cube3 is as close to plug-n-play you can get. And I feed it .STL files and it does the rest, good or bad.
Here is where I use Meshmixer to add supports because they are better than the supports my slicer creates.

There are a lot of things to learn about 3D printers. Feel free to browse the forum for ideas and more questions to ask. Generally it is easy to get files to print. Most CAD systems will output appropriate file formats. You also have Thingiverse for fun things to print. Start thinking in terms of what you want in a printer. How many heads and the time penalty for multiple colors; do you want to tinker with the setting or something that just works; are you willing to buy slicer apps or are you aiming to stay open source throughout? Stuff like that will come up in your consideration.