I have pre-sense on my S3, I must say it's been pretty good. I've had it pop the brakes on once or twice, but it has saved my bacon on one of those occasions. I thought the car in front had pulled away at the round about when i was looking right, it did and then it didn't... I went to go and the car just stopped me. I get pre-sense flash up sometimes on my road near home, it sometimes thinks one of the bollards is a person and beeps at me... but depends on my speed and how late i leave it to turn.
Never had any of these nanny systems, but it's never over-ridden my control to the point that I felt unsafe. It's just an extra layer of protection imo, same as lane assist (which i hate and don't have) and ACC (which i love).