SystemC is widely used for modeling and simulation in hardware/software co-design. However, the co-verification techniques used for SystemC designs are mostly ad-hoc and non-systematic. A particularly severe drawback is that simulation results have to be evaluated manually. In previous work, we proposed to overcome this problem by conformance testing. We presented an algorithm that uses an abstract SystemC design to compute expected output traces, which are then compared with those of a refined design to evaluate its correctness. The main disadvantage of the algorithm is that it is very expensive because it computes the output traces offline and has to cope with non-deterministic systems. Furthermore, the designer has to compare the results manually with the outputs of a design under test. In this paper, we present an approach for efficient and fully-automatic conformance evaluation of SystemC designs. To achieve this, we first present optimizations of our previously proposed algorithm for the generation of conformance tests that drastically reduce computation time and memory consumption. The main idea is to exploit the specifics of the SystemC semantics to reduce the number of semantic states that have to be kept in memory during state-space exploration. Second, we present an approach to generate SystemC test benches from a set of expected output traces. These test benches allow fully-automatic test execution and conformance evaluation. Together with our previously presented model checking framework for abstract Sys-temC designs, we yield a fully-automatic HW/SW co-verification framework for SystemC that supports the whole design process. We demonstrate the performance and error detecting capability of our approach with experimental results.