2019 TOYOTA RAV4 Forward Collision Avoidance Automatic Emergency Braking Problems

My check engine light is on due to O2 sensor being dirty. While this light is on some features in the car are disabled like cruise control. It might also be that the ABS braking system is turned off! I am not sure but once when the car in front of me abruptly stopped I was surprised my emergency braking did not kick in.

Pre-Collision System (PCS) failed. My daughter during sunset (sun glare) struck the vehicle in front of her, that suddenly braked due to sun glare. Toyota hasn't look at PCS system yet and the car is at the repair shop, but I did open a case with Toyota to investigate failure and access onboard data. Auto repair shop will check the system, but no malfunction warning on the car's warning display. There were no warning present prior to accident or post-accident.

Driver was in the process of parking. While driver had foot on brake and about to put vehicle in park, vehicle suddenly lurched forward uncontrollably, jumped the curb, ran over thick bushes, and ran into the front window of a store. as soon as vehicle stopped, driver placed the vehicle in park. None of the safety features prevented this.

The vehicle enters mud/sand mode spontaneously, causing the ABS, traction control, and forward collision warning to turn off. I cannot enter mud/sand mode myself when pressing the button. Must turn on normal or eco mode to get out of mud/sand mode once it activates. It has happened over a dozen times in a week.

Around 2:30 pm on Thursday, December 2, 2021, my wife and I were on our way to the gym for a workout. I was pulling my auto out of my garage. It was in reverse when it stopped half way and did not finish backing out. I put it in drive and then in reverse and I was able to back out. Once out of my driveway, I backed out into the street in reverse. From reverse, I put my car in Drive to start driving on the street. At this point, the car spun out of control and I could not control its movements. The car turned around on the street and drove into my yard. It ran through the yard, spun around through some hedges, onto my driveway and continued back into the yard. At this time it hit a tree in the yard, went back on the...