自从 means "ever since" in English, and is used to express the starting point of an action in the past. It can be followed by phrases using the markers 起 and 以后
自从 + [Starting Point]
In the above examples, 从 can be used interchangeably with 自从. The main difference is that 从 can also be used to state starting points in the future, a little like "from" in English. 自从 cannot be used in this way.
Note that 从 can be used to denote starting points in place and time, whereas 自从 can only be used to express starting points in time.