1 is just a matter of allowing the user to issue real-time commands ("Car, stop here", "Car, go park"). 3 is less of an issue when you can get off and let the car park itself wherever it wants.
2, 4 and 5 are a matter of smarter algorithms, but I doubt they won't be able to do all that way before they become commonplace. Particularly 4, since you can't reasonably expect people to have to take control to avoid an accident. Even professional pilots can struggle with that, let alone regular drivers.
There is currently a lot of talk in the professional pilot community that automation has reached the point where pilots are increasingly unable to fly manually. So when the automation fails, they can't handle it.
2, 4 and 5 are a matter of smarter algorithms, but I doubt they won't be able to do all that way before they become commonplace. Particularly 4, since you can't reasonably expect people to have to take control to avoid an accident. Even professional pilots can struggle with that, let alone regular drivers.