Lets consider your Consumer group name is Test and you have a single consumer in the Consumer Group.
When Auto-Commit is enabled, offsets are committed only during poll() calls and during closing of a consumer.
For example- auto.commit.interval.ms is 5 secs, and every call to poll() takes 7 secs. When making every call to poll(), it will check if the auto commit interval has elapsed, if it has, like in the above example, it will commit the offset.
Offsets are also committed during closing of a consumer.
From the documentation -
"Close the consumer, waiting for up to the default timeout of 30 seconds for any needed cleanup. If auto-commit is enabled, this will commit the current offsets if possible within the default timeout".
You can read more about it here -
https://kafka.apache.org/10/javadoc/index.html?org/apache/kafka/clients/consumer/KafkaConsumer.html
Now, onto your question, if poll() is not called again or consumer is not closed, it won't commit the offset.