Navigate to the WordPress Dashboard > Subscriptions > Settings to manage subscription setting's.
Renewal Process
By default, it's set to Automatic, which means an order will be automatically create for renewal the subscription. Customer will have to pay this order to renew the subscription.
If you set to Manual, Renewal process will be something like Product subscription process. Customer will add the expired product on cart & after successfull checkout, subscription renewal process will be completed.
Automatic renewal is available for Pro version only !!
Renewal Cart Notice
If renewal process is set to Manual, You can customise Renewal Cart Notice.
Subscriber role
You've 2-settings related to subscriber's role. When new user/customer subscribed a product, Subscriber Default Role will be assign. If user/customer have no active subscriptions, Subscriber Unactive Role will be assign.
Renewal Price
When a subsciption expired, Renewal Price will be taken based on this setting. By default, Subscribed Price selected. So,renewal price will be taken from order item data.
If New/Updated Price selected for this setting, Renewal Price will be taken from product object.
Other renewal settings
Auto Renewal Toggle and Stripe Auto Renewal, both settings only works where the subscription payment method is stripe.
Early Renewal allow customers to renew subscription before expire.