Yes, there are some semi autos versions out there. Golden State Arms Co. imported some prior to '89. They were British Aerospace marked, not Enfield. I saw them for sale NIB at a gun show in Texas in '88 or so. They were $5,000 brand new with no semi-auto ban legislation in sight back then. I had the opportunity to buy one back in '97. The guy wanted $10k for it and he had a LOT of SA80 parts (traded out of Brit hands in Gulf War 1) to go with it. Wish I'd done it. Ebay UK has a lot of the A2 parts made by HK and it would be quite something to have one of these semis with the HK-made A2 parts in it. Talk about valuable.
The Cadet version is also not importable, despite manual charging handle. The receiver is an MG receiver with some easily changed out parts that make it manual.
There are some parts guns out there. I know The Arms Room in Nevada (now defunct) made some receivers and built up complete semi-auto SA80s with imported SA80 kits, but they were are not impressively built and are still way above $10k when you find one for sale. These were also done pre-922r, so the imported parts count did not/does not matter.