If you are new to the SH series then I don't recommend to start with SH5, start with SH3 (Atlantic battle field) or with SH4 (Pacific battle field).
The reason is that SH5 is difficult to setup to run correctly, you need good computer knowledge and patience to read the numerous docs (or watching tutorial videos) for playing it without hassle. Note that there is no good 'overall' manual or documentation for SH5 outside of the sticky threads in the SH5 forum here, so you have to patiently browse and read...
SH3 and SH4 are more stable once you setup correctly (have at least 8GB RAM to run all megamods), but here also it's not an 'install-and-play' procedure, so you need to be patient...These games have good documentations and manuals to start you (also the mods).
IMO, the best way to get started with the SH series is to play SH3 + GWX3 mod which is the most stable with excellent documentation.
But yes, SH5 will pretty do all what you describe above
with the TWoS megamod that you install over the stock game v. 1.2.0. Although it has a sort of autopilot called 'Automation feature' you need to give a lot of commands to your crew, walk through compartments of your sub etc. So it's for sure SLOWER than in Cold Waters, I'm not sure you like it, watch videos, but be prepared that most of them are outdated.
Good videos to watch:
stoianm1 videos on Youtube (can all be played like seen with TWoS mod)
Welcome,
