Check out maticrobots.com. I am obviously biased as I am one of the co-founders but we truly have built the next-gen 10x better, fully autonomous mopping and vacuuming bot.

We have everything you mention above and have HEPA bags.

We went against self-emptying because 1) those docks looks ugly - my wife calls them rocket ships and don’t want it in our home. 2) building vacuum that cleans vacuum and makes a crazy loud noise just seemed so inelegant.