The US-made V-1 copies were going to be used on Japan, not Europe. It was thought that the campaign would reduced US troops losses during an invasion. Another team perfected the atomic bomb and the Navy was stuck with all those JB-2 Flying Bombs. So ... they set about figuring out how to launch them from submaries since they arelady knew how to launch them from ships. This led to the first SLBMs (submarine launched ballistic missiles) in US service. Much later tghey managed to get right to vertically launched submarine missiles of the strategic type, like the Polaris. Surely the JB-2 was the start of the US program, and it was a copy of the V-1 ... albeit a bit more accurate, if you believe the information publically available today. I do since the information publically avaiable for the programs I worked on is spot on.
We also had the TDR-1, 2, and 3, which were target drones. They could be flown by radio or launched on their own, but were most effective when flown into the target from a chase plane, much as the German Mistels had been. Autonomous cruise missiles had to wait for a small but accurate INS or the GPS before they could truly be fire-and-forget. Some of the early ones used an INS (Inertial Navigation System).
Submarines still do since you can't receive satellite signals underwater. The INSs used in subs are VERY accurate and can go around the world with less than a meter of error. Surely I'm not telling anyone in here anything new ...