It should. Sometimes it will see obstacles but you need to be careful in case it doesn't see them. It also depends on the shape of the obstacle.
When I use Summon on my S, it will turn the wheels slightly and so far it has always avoided obstacles and centered itself when going through the garage door. Also if you stand close to it, it can sense you and will try to avoid you. There are settings where you can indicate if your garage is a tight fit and I think it will allow it to get even closer to the front/side walls of the garage.