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The Phalanx does auto target. It just can't fire on its own. They're designed to shoot down missiles and humans can't aim that fast so they're fully autonomous except for the fire control. From what I remember targets are assigned and prioritized by the AEGIS system on the ship but the Phalanx is designed to do all of the actual targeting on it's own so that if the ship targeting stuff is damaged it can still function perfectly fine without it.
Theres a short video out there of a phalanx targeting and tracking a passenger plane. Aparently they're also known to track birds and people walking around on the the ship.
So as far as one going rogue, all it would take is for the person in the control room to give it the fire command at the wrong time. Of course they fire at 4,500 rounds per minute and their large magazine only holds 1,550 rounds, so it's spree of carnage would be pretty short lived.