I had 0 issues with this in act 1. I’d leave the game running at the town for 5 minutes while I’d tidy up or whatever, and it would autosave (I think), but in Act 2, I’ve had to replay the same levels twice because it won’t save my progress (though it did save my new items). I’m not exactly sure what to do. Let me know if you need more info.
It sounds like you’re running the campaign. There are certain checkpoints that you need to reach in order for it to be saved. If you just run a portion of the section in the act and quit out, you’ll most likely have to run that section again.
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On console, and probably PC, when a checkpoint is reached it pops up on screen and says so like “Checkpoint reached.” This tends to happen after completing specific quests (or returning from a Rift.)