You stay class there Sbob.
You stay putting people off the forum Drac. 😉
Of course they're legal, they wouldn't be for sale if they weren't.
My new car has self parking for parallel and perpendicular parking and gets you out of parallel spaces to. It was park of the spec, its not something I would have taken as an option but it's bloody impressive. You're obviously still in control of the car, all it does is steer but you can take control at any time by grabbing the steering wheel.
Ultimately, its the driver that is deemed in control of the speed and direction of the car. Trying to blame the auto-park system of an error wouldn't cut it. I reckon that argument would be over-ruled with the notion that as the driver you should be monitoring what its doing and intervene ... and that you'd not been paying proper attention.
They do seem to be very clever systems, and sometimes they park into a space un-nervingly fast, but as already said, you can probably manually squeeze into tighter spaces yourself.
You don't need a self-parking car if you can't turn your head (or shoulders, neck and head combined, which I think is normal) - you just need a reversing camera.