At this point it's easy to think that AFS always means G and vice versa, since the vast majority of autofocus F-mount Nikkor versions over the years are either both or neither. The changeovers from screwdrive to AFS and from just D to G + D (with D not mentioned) happened a long time ago, and for most lens series these changes were made at the same time. Of course there are exceptions such as the DX 10.5mm fisheye (G but not AFS), the 17-35/2.8 (AFS but not G), and the supertelephotos during the transitional period (also AFS but not G).
I like the AFS I and AFS II (non-VR) supertelephotos because they combine AFS with an aperture ring. They could even be used on a manual-focus film camera, though I haven't tried that yet.