In the complex virtual environment of cyberspace, comprised of digital and communication networks, ensuring the security of information is being recognized as an ongoing challenge. The importance of 'Cyber Situation Awareness (CSA)' is being emphasized in response to this. CSA is understood as a vital capability to identify, understand, and respond to various cyber threats and is positioned at the heart of cyber security strategies from a defensive perspective. Critical industries such as finance, healthcare, manufacturing, telecommunications, transportation, and energy can be subjected to not just economic and societal losses from cyber threats but, in severe cases, national losses. Consequently, the importance of CSA is being accentuated and research activities are being vigorously undertaken. A systematic five-step approach to CSA is introduced against this backdrop, and a deep analysis of recent research trends, techniques, challenges, and future directions since 2019 is provided. The approach encompasses current situation and identification awareness, the impact of attacks and vulnerability assessment, the evolution of situations and tracking of actor behaviors, root cause and forensic analysis, and future scenarios and threat predictions. Through this survey, readers will be deepened in their understanding of the fundamental importance and practical applications of CSA, and their insights into research and applications in this field will be enhanced. This survey is expected to serve as a useful guide and reference for researchers and experts particularly interested in CSA research and applications.