All autofocus lenses made by Nikon will autofocus with the D90, whether AF-S or AF.
AF-S lenses have the focus motor in the lens, not the camera, and work with all Nikon digital DSLRs.
AF lenses are screwdriver lenses. The camera body controls the autofocus. AF lenses will autofocus with the D70, D80, D90, and Dxxx camera bodies, but not with the D40, D50, D60, D3000, and D5000. Those latter camera bodies do not have the screw driver motor in the camera body needed to focus AF lenses.
If you have a D90 and/or an AF lens, take a look. You'll see the screw driver in the camera (looks like a small flathead screwdriver) and the screw in the lens (flathead screw top).
A "D" lens has a chip that conveys distance to the camera for matrix metering. It does not affect focusing.