superpop

I had a situation like you describe several times on my 2019 S63 when I first purchased it. Everytime a car would pass me on the left, as they passed by me my car would violently swerve to the right and brake HARD. Collision avoidance lights would flash and my wife would lose it, not a fun situation in a 180K car. I took it to my local dealer and they told me no trouble found, and they suggested I just turn off the collision avoidance nannies!! Took it to a different dealer and they almost gave up on it before it finally demonstrated this behavior with the tech driving the car. Scared the hell out of him and convinced him there was a serious safety problem with the car. Ripped the entire rear bumper off and replaced the left rear radar sensor. After calibrating it, I have not had a single issue with the safety systems of the car. The tech told me that the safety systems in this car are almost too good for their own good so when something goes awry the car can do some weird stuff. Take it to your dealer and insist on a very thorough examination of the car. This is not something to mess around with.

MBNUT1

The problem with these systems is their failure modes. The example above suggests that a component can fail but system doesn't flag that it has failed so you get these unwanted actions by the system. What should happen is the system detects the failure, disables the system and generates a warning light.