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Now 10+ automatic parkings later, I can report I have not been able to replicate the aggressiveness of my first parking try.

May be because the first try I did in comfort mode and lately moved to use eco pro when I drive. This might make a difference. Next time I find a easy'n'kerbless parking spot I will try the comfort autoparking again to see if it is the root cause for my initial panic experience.

After a few tries I learned how to see instantly if there is a chance that the autopark will hit the kerb.

I think the outcome can be altered by starting the autopark closer or further away from the side of the car in the front.

If the parking is started closer to the adjacent car, so will the angle of the parking be less harsh I think. Further away to the side started parking might be a bit more risky for the wheels kerb wise, as then the angle will be larger. Maybe just my imagination though. 

Anyway, I haven't had any problems with the autopark since, but will still keep on keeping an eye on the red curve of the backup camera to stop any close call entrances.