Recent technological (e.g., IoT, 5G), and economic (e.g., UN 2030 Sustainable Development Goals) developments have transformed the healthcare sector towards more personalized and IoT-based healthcare services. These services are realized through control and monitoring applications that are typically developed using artificial intelligence (AI)/machine learning (ML) based algorithms, that play a significant role to highlight the efficiency of traditional healthcare systems. Current personalized healthcare services are dedicated in a specific environment to support technological personalization (e.g., personalized gadgets/devices). However, they are unable to consider different inter-related health conditions, leading to inappropriate diagnosis and affect sustainability and the long-term health/life of patients. Towards this problem, the state-of-the-art Healthcare 5.0 technology has evolved that supersede previous healthcare technologies. The goal of healthcare 5.0 is to achieve a fully autonomous healthcare service, that takes into account the interdependent effect of different health conditions of a patient. This paper conducts a comprehensive survey on personalized healthcare services. In particular, we first present an overview of key requirements of comprehensive personalized healthcare services (CPHS) in modern healthcare Internet of Things (HIoT), including the definition of personalization and an example use case scenario as a representative for modern HIoT. Second, we explored a fundamental three-layer architecture for IoTbased healthcare systems using both AI and non-AI-based approaches, considering key requirements for CPHS followed by their strengths and weaknesses in the frame of personalized healthcare services. Third, we highlighted different security threats against each layer of IoT architecture along with the possible AI and non-AI-based solutions. Finally, we propose a methodology to develop reliable, resilient, and personalized healthcare services that address the identified weaknesses of existing approaches.