Sun Who, the latency you describe was one of the main issues with Lunakhod many years ago - by the time it's told its operators that there's a cliff ahead, it's fallen over it.
Even the most optimistic drone proponent can't do much about the speed of electromagnetic propagation!
Some years ago I was involved in a study programme concerning drone AAR - we concluded that, whilst the drone itself would probably be capable of maintaining close formation to the precision required for boom-to-drone AAR, due to round trip timing issues, off-board safety monitoring had insufficient response time to breakaway the drone if its guidance systems suddenly went out to lunch.
In a high threat environment, with a good tactical data link net, the drone should have complete knowledge of friendly PPLIs and tracks. To reduce separation, the drone controller must have suitable assurance that the SRAP known to the drone matches that known to the operator. If not, it must work to increased separation minima and/or remain within drone segregation areas until the link is properly recovered.
But in a low tempo peacetime environment, attempting to enhance drone 'sense and avoid' capability seems rather cost-ineffective. The alternative would be to operate the drone during hours of night only, greatly reducing the threat to/from uncontrolled civil traffic.