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Like octopuses and worms in nature, soft robots\u2019 flexible bodies conform to hard objects and reconfigure for different tasks, delegating the burden of control from brain to body through embodied cognition. However, because of the lack of efficient modeling and simulation tools, soft robots are primarily designed by hand. Typically, hard components from rigid robots or living creatures are heuristically substituted for comparable soft ones. Autonomous design and manufacturing methodologies are urgently required to produce bespoke, high\u2010performing robots. Currently, design methodologies exist between simple but realistic parametric optimizations, and evolutionary algorithms which simulate morphology and control coevolution. To find high\u2010performing designs, novel high\u2010fidelity simulators and high\u2010throughput manufacturing and testing processes are required to explore the complex soft material, morphology and control landscape, blending simulation, and experimental data. This article reviews the state of the art in autonomous soft robotic design. 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