It appears to take obstacles into account. I park my car near a post in my garage. It has never opened my door into the post. When I pull the car out of the garage the door opens all the way to 1/2 way open.I am hoping it is able to sense objects in the way with Vision and not just 'open half way' no matter what.
Now for them to fix the rain sensing auto wipers (for all Tesla's). That is pretty frustrating. My 16 year old car has better rain sensing wipers than my Tesla.