I was wondering if astromech droids (like R2-D2) could fully control any unmanned ship they're mounted in.
Answer
Yes
We see R2 pilot Mace Windu's Jedi Starfighter in "R2 Come Home", an episode of The Clone Wars
Not only does he do some pretty fancy flying (surviving a dogfight with Slave I), he docks with a hyperspace ring and flies all the way to Coruscant.
He also flies a Y-Wing bomber in "Nomad Droids", a later episode, and even blows up some vulture droids:
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