How to disable the autozoom on mouseover for the product image in Storefront theme of WooCommerce?

Try this, I am not able to test it myself but I do remember using it or something like it in the past:

jQuery(document).ready(function($) {
    // Disable zoom on product images
    $('.woocommerce-product-gallery').trigger('zoom.destroy');
});

You can try this in your functions.php file

remove_image_zoom_support() {
    remove_theme_support( 'wc-product-gallery-zoom' );
}
add_action( 'wp', 'remove_image_zoom_support' );

Or, try this css

.woocommerce ul.products li a img,
.woocommerce div.product div.images img {
    pointer-events: none; /* Disable hover events */
}