By definition, if $H$ is characteristic subgroup of $G$, then every automorphism of $G$ restricted on $H$ is an automorphism of $H$.
From these two questions (1) (2) we know it's generally false that if $H$ is characteristic subgroup of $G$, given $\varphi \in \text{Aut}(H)$, then there exists $\psi\in\text{Aut}(G)$ s.t. $\psi|_H=\varphi$. Example from $A_3$ and $S_3$ shows even if such a $\psi$ exists, it may not be unique.
My question:
Suppose $H$ is subgroup of $G$, what's the sufficient condition s.t. $\forall \varphi \in \text{Aut}(H)$, $\exists\ \psi\in\text{Aut}(G)$ s.t. $\psi|_H=\varphi$?
Background:
This question comes from studying $\text{Aut}(S_n)$ and $\text{Aut}(A_n)$.
If $n\geqslant 4$ and $n \neq 6$, then $\operatorname{Aut}(A_n)\cong\operatorname{Inn }(S_n)\cong\operatorname{Aut}(S_n)\cong S_n$.
The existence and uniqueness is true for $A_n$ and $S_n$($n\geqslant 4$ and $n \neq 6$), while uniqueness is not true for $A_3$ and $S_3$.
To move this question out of the unanswered list, I put related materials in answer.