In brief
The repeated maneuver can be learned by a single manual passage.
Useful to know
Bosch's home zone park assist uses a pre-showed trajectory to the usual parking space. The driver passes the route manually to set the starting position, end and path between them. [1]
In subsequent use, the system can repeat the maneuver by observing the environment and reacting to recognized obstacles according to its capabilities. This is different from looking for an arbitrary vacancy on the street. Remembering does not certify that the driveway is always free. The driver continues to monitor the movement and should be able to stop it.
Sources
For further detail and to check the information: