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Even though amcl is a part of the navigation stack, it is a localization package and you cant navigate with it. For navigation you need move_base and that is why your second launch file works.
roslaunch turtlebot_gazebo turtlebot_world.launch
will just launch the turtlebot gazebo simulation which will simulate your robot with all the required senors in an environment
roslaunch teb_navigation amcl1.launch
while the above will launch only the amcl localization and map server (as shown in your first launch file). You can launch move_base here or create a separate launch file for navigation.
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