Are teams allowed to use semi autonomous control during driver skills and alliance matches by programming their controller to help with various moves?
Yes, that is legal. And often recommended for certain kinds of moves.
If you really wanted to, you could eschew using the controller’s buttons and joysticks altogether, though it would be hard to win like that.
A few years back, the Knights had programming skills on command in their driver code. It also had a command to stop and go totally driver control if things went south. This was one of the better matches we had at Worlds that year.