Are there any strong manual ciphers?
You may have a look at the Schneier's blog https://www.schneier.com/blog/archives/2018/05/lc4_another_pen.html 

There are two ciphers described (LC4 and Solitaire).

I am not sure a  card-pack based cipher would fulfill #4, but imho still having good strength for a field hand-only cipher

edit: now I noticed Maarten linked the Solitaire cipher too,