My Mazda has the same issue with cars in front taking exits. I’ve also had it brake unexpectedly on the highway on Rt 95 in RI. I was coming over the crest of a small hill and in front was a stone overpass. The angle of the radar was still elevated so it thought that I was headed into a stone wall. Except the road dips down well before the overpass so in reality that isn’t a possibility.

The warning lights and alarm went off and then the car slammed on the brakes. Thankfully no one was behind me.

Subaru EyeSight uses two stereoscopic video cameras only: no radar, lidar, or ultrasonics. It was engineered to achieve the maximum possible safety improvement at minimum cost. And it basically succeeded at that, but it's very limited. Can only sense straight ahead, doesn't work at all in fog or heavy precipitation, etc.