I've been playing around with the database for a while, but I'm afraid I can't get the autofill to work the way you want it to. The correct syntax is:
DLookUp("[MilageStop]","MilageTbl","[AutoNumber] = Forms![MilageFrm]![AutoNumber]-1")
But I haven't been able to figure out where to put it so that it fills in the starting mileage field immediately when a new record is opened. I'm sure someone with more experience than I will see this and get you further ahead. You can also check here for more information on Dlookup and PrevRecVal:
http://support.microsoft.com/default.aspx?scid=kb;en-us;210504
Here are a couple of other comments I have:
You have the mileage fields set to Integer type - this data type has an upper value limit of 32,767. You'll want to change this to Single or Double type in order to enter values higher than that.
On your form, set the Control Source for the field Total to =[MilageStop]-[MilageStart]. Right now you have it set to Total, which isn't a field in the table.
If the starting mileage will ALWAYS be the ending mileage of the previous record (and you won't be changing values or deleting records that were previously entered), then there is no need to have a separate field for starting mileage (or for total mileage driven) - you're duplicating data that can always be computed on the fly using a query.
Sorry I couldn't be more help.