A forest fire is a really good challenge scenario. The threat isn't really anything to do with driving or road hazards as such, it's an out of context threat.

It's these out of context situations that are my long term issue with losing the steering wheel. A typical example would be arriving at a country fair and parking in a field. I want to park on the side of the field that's currently in sunlight, but over the next hour will be shaded by those trees, near the gate but not too near the toilets, but not next to that patch of wet ground.

What kind of UI does the car need to have for me to specify exactly how and where I want it to park, without me actually driving it? Frankly I think this is level 6+. Level 5 is usually described as a self driving taxi, but family vehicles are used for things no taxi would ever have to deal with.