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I was just going through Apple's Security White paper and according to it, there's no way to enter the passcode electronically.

Not that this fully addresses point #5, but automated mechanical means to enter the PIN do exist: http://www.blackhat.com/us-13/arsenal.html#Engler

As gpm pointed out in a sibling comment, the issue is that they can't brute force the PIN without wiping the phone.

Mechanical entry would take time as well if it is a alphanumeric code.

Is there's a way to connect a device to where the digitiser connects to the logic board that would mimic pressing the screen?

I am guessing the JTAG points are fused. FBI does not need Apple to try that.