In the context of Noisy Intermediate-Scale Quantum (NISQ) computing, parameterized quantum circuits (PQCs) represent a promising paradigm for tackling challenges in quantum sensing, optimal control, optimization, and machine learning on near-term quantum hardware. Gradient-based methods are crucial for understanding the behavior of PQCs and have demonstrated substantial advantages in the convergence rates of Variational Quantum Algorithms (VQAs) compared to gradient-free methods. However, existing gradient estimation methods, such as Finite Difference, Parameter Shift Rule, Hadamard Test, and Direct Hadamard Test, often yield suboptimal gradient circuits for certain PQCs. To address these limitations, we introduce the Flexible Hadamard Test, which, when applied to first-order gradient estimation methods, can invert the roles of ansatz generators and observables. This inversion facilitates the use of measurement optimization techniques to efficiently compute PQC gradients. Additionally, to overcome the exponential cost of evaluating higher-order partial derivatives, we propose the $k$-fold Hadamard Test, which computes the $k^{th}$-order partial derivative using a single circuit. Furthermore, we introduce Quantum Automatic Differentiation (QAD), a unified gradient method that adaptively selects the best gradient estimation technique for individual parameters within a PQC. This represents the first implementation, to our knowledge, that departs from the conventional practice of uniformly applying a single method to all parameters. Through rigorous numerical experiments, we demonstrate the effectiveness of our proposed first-order gradient methods, showing up to an $O(N)$ factor improvement in circuit execution count for real PQC applications. Our research contributes to the acceleration of VQA computations, offering practical utility in the NISQ era of quantum computing.