Autoresonant phase-locking of the plasma wakefield to the beat frequency of two driving lasers offers advantages over conventional wakefield acceleration methods, since it requires less demanding laser parameters and is robust to variations in the target plasma density. Here, we investigate the kinetic and nonlinear processes that come into play during autoresonant plasma beat-wave acceleration of electrons, their impact on the field amplitude of the accelerating structure, and on acceleration efficiency. Particle-in-Cell simulations show that the process depends on the plasma density in a non-trivial way but can be reliably modeled under specific conditions. Beside recovering previous fluid results in the deeply underdense plasma limit, we demonstrate that robust field excitation can be achieved within a fully kinetic self-consistent modeling. By adjusting the laser properties, we can amplify the electric field to the desired level, up to wave-breaking, and efficiently accelerate particles; we provide suggestions for optimized laser and plasma parameters. This versatile and efficient acceleration scheme, producing electrons from tens to hundreds of MeV energies, holds promise for a wide range of applications in research industry and medicine.