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You can use a message bus subscription to do that.

The following script will call a function when 'use_keyframe_insert_auto' is changing from the UI.

The principle is:

• Obtain a subscription link using path_resolve on the scene
• Then use this link to subscribe in order to fire a function when the value changes

Here is the code (look at the console to see the printed results):

import bpy

#The callback when use_keyframe_insert_auto changed
def a_callback(scene):
    print( scene, "use_keyframe_insert_auto changed" )

def subscribe_to_scene(scene):

    #Get a rna subscription from the scene
    subscribe_to = scene.path_resolve("tool_settings.use_keyframe_insert_auto", False)

    #Effectively subscribe to the rna path from the scene
    bpy.msgbus.subscribe_rna(
        key=subscribe_to,
        owner=scene,
        args=(scene,),
        notify=a_callback,
    )

subscribe_to_scene(bpy.context.scene)