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The Cantrip trait does say that the spell will auto-heighten.
When you are casting the cantrip yourself, that is always what will happen.
There are some items (but not all of them) that specify a level of the cantrip that the item casts. It has to explicitly say that though. An example is Flame Tongue that casts Produce Flame at spell level 7. No more, no less. For items like Spellhearts that cast cantrips without specifying a level, it will cast at the same level that you would cast the cantrip at.
Cantrip (trait) A spell you can cast at will that is automatically heightened to half your level rounded up. 300
A cantrip is a special type of spell that's weaker than other spells but can be used with greater freedom and flexibility. The title of a cantrip's stat block says “Cantrip” instead of “Spell.” Casting a cantrip doesn't use up your spell slots; you can cast a cantrip at will, any number of times per day. If you're a prepared caster, you can prepare a specific number of cantrips each day. You can't prepare a cantrip in a spell slot.
A cantrip is always automatically heightened to half your level, rounded up. For a typical spellcaster, this means its level is equal to the highest level of spell slot you have.
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As they said, but also adding that whenever this is not the case, the source of the Cantrip will always specify what level it casts at. Usually this will be in Cantrips from Items (like breithauptclan mentioned) but also can happen with other cases. The only one I know of at the moment is the Detect Magic cantrip that the Arcane Sense skill feat gives you heightens based on your Arcana skill proficiency rather than your level (starting at 1st when Trained or Expert, then heightening to 3rd at Master and 4th at Legendary).