The General tab’s Cart drawer behaviour section controls how and when the drawer opens.
General options:
Floating — bottom right
Total
Both
Icon only
Trigger position and Trigger badge shows only appear while Show floating trigger button is on, and the badge setting is hidden when you pick Use theme cart icon, since Side Cart then shows no button of its own. If your theme’s cart icon does not open the drawer, your developer can point Side Cart at it — see Hooks for theme developers.
Turning any of these off
Each toggle here is independent — for example, you can keep the floating trigger button on while turning off auto-open, so the drawer only appears when a shopper deliberately clicks the cart icon.