The 'save_post' action was added to core in 2.0, and has always been an action. Looking through the current autosave procedures, it doesn’t appear to call the 'save_post' action directly at any time.
So the short answer is, no. There is no reason, and has never been any reason, to return any value on this action. Of course, it doesn’t hurt at all to do return the post id.
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