How does someone know in real life if you meant to kill someone when there was no evidence?
This could be solved by implementing a warning or reputation system.
I'd argue that if the victim clearly runs in front of the killer while the killer is attacking an enemy, that qualifies as evidence that it was an accident.
But regardless, as much as it pains me to acknowledge that there can be any benefit to adding auto-aim or target magnetism or whatever you want to call it to the game, it MAY help with the friendly fire issue, at least, I say may because we can't be sure until we've tried it, after all, Fallout 3 had a form of auto-aim too, and yet friendly fire was still a problem, so we can only wait and see.
As to the other issues, I'm definitely hoping that the psychic guards thing will be fixed, because it was kind of ridiculous, guards should only know that you commited a crime if someone was able to report it, and people should of course only report it if they could concievably know you commited a crime. If the AI is good enough, NPCs could potentially get suspicious if they notice items gone from their house, but they should only outright report you if they could concievably know that you stole them.
Also, I'd like to see sleeping in owned beds handled more like Morrowind, which is to say that you can sleep in them, as long as the owner can't see you, the game only stops you from sleeping in them if the owner sees you. Radiant AI could also be used for this to allow NPCs to potentally catch you sleeping in the bed after you've gone to sleep (Whereas in Morrowind, once you were sleeping, no one would care.) but certainly, I shouldn't get a message saying "You cannot sleep in an owned bed." when I try to sleep in a bed in the house of someone who is already dead.