Iím not sure I would trust PAP where there are irregular objects on either side ó itís not the documented use case as Iíve read from Volvo (which is where there are more solid objects like cars on either side), so as an X-software kinda guy that knows exceptions are what cause unexpected problems, Iíd beware using it in such situations.
FWIW, and Iím not trying to redirect you. What you are describing as a need IMO is more like the the Tesla Summon function I had on my former Model S. (Iím not talking about the more ďout thereĒ recent extension to Summon where it may supposedly find you in the parking lot by itself.) I first used Summon years ago, not a month after it installed itself OTA on my MS, where I had parked in 90-degree slot and some @#($* parked so close to my driver door when I got back, I would not be able to squeeze through between the vehicles, let alone open the door to get in. I used my FOB and caused the Tesla to reverse itself until I could easily open my door, let my passengers in, and I finished backing-out and was on my way. Summon allows it to be set to sense a max distance in front where to auto-stop, or max distance to reverse before it automatically stops, and you can always manually stop it via FOB access in a couple of ways. The car while itís maneuvering constantly evaluates obstructions around it, so e.g. if you step too close while itís moving or it senses something in front or behind it (a toy, dog, human, etc.) it either stops or will slow, adjust direction slightly and continue on. Itís a smart piece of programming Iím sad my 2020 T8 does not have, that I suspect Volvo could also implement if they wanted to ó It seems like my XC60 Inscription has all the hardware required, just not the programming that would be a logical extension of what PAP is trying to be. I miss using Summon on my weekly back-out of my garage when I wanted to wash the car to just bring a little smile to my face without getting in and letting the car back itself out to the center of my driveway, and in those annoying situations where crazies parked too close to my door to make re-entry easier vs crawling over the center console as us older-timers have probably done somewhere in our lives. Others on the Tesla forum I used to frequent LOVED Summon to stop in front of their garage or parking space, get out, and start Summon for it to drive forward into tight parking 90-degree parking spaces, garage, etc. where it would automatically stop at the designated distance from the front wall ahead.