If you have, have you tested out the Pre Sense Front feature?
Under 18mph, it should brake autonomously (full braking) for you, if it detects a stationary or slow moving object in front of you = collision avoidance.
Over 18mph, it should apply partial braking for you, then when you apply the brake pedal, it will calculate the additional brake pressure required to avoid collision and apply that for you.
Have you tested yours?
Would love to see a YouTube video of you driving up to some tall cardboard boxes wrapped in tin foil at 15mph !
Audi Pre Sense Front | Euro NCAP - For safer cars crash test safety rating
There is a demo of this on an A6: cartechnical | Audi safety track test - YouTube