Intelligent task-oriented semantic communications~(SemComs) have witnessed great progress with the development of deep learning~(DL), where multi-task SemComs that perform multiple tasks simultaneously attach great importance due to its high efficiency. However, the study of robust multi-task-oriented semantics transmission is still in early stages. In this paper, we propose a semantic-aware hybrid automatic repeat request~(SemHARQ) framework for the robust and efficient transmissions of multi-task semantic features. First, to improve the robustness and effectiveness of semantic coding, a multi-task semantic encoder is proposed. Meanwhile, a feature importance ranking~(FIR) method is investigated to ensure the important features delivery under limited channel resources. Then, to accurately detect the possible transmission errors, a novel feature distortion evaluation~(FDE) network is designed to identify the distortion level of each feature, based on which an efficient HARQ method is proposed. Specifically, the corrupted features are retransmitted, where the remaining channel resources are used for incremental transmissions. The system performance is evaluated under different channel conditions in multi-task scenarios in the Internet of Vehicles. Extensive experiments show that the proposed framework outperforms state-of-the-art works by more than $20\%$ in rank-1 accuracy for vehicle re-identification, and $10\%$ in vehicle color classification accuracy in the low signal-to-noise ratio regime.