This paper suggests that human vision maintains stereopsis much further out than many researchers have thought: https://jov.arvojournals.org/article.aspx?articleid=2122030

They measured out to 18m & point out that the typical measured limits of angular resolution of the human eye mean that we could extract stereo image information out to 200m or more.

This paper claims to demonstrate stereopsis out to 250m, which is roughly the limit you’d expect from human visual acuity: https://jov.arvojournals.org/article.aspx?articleid=2191614

It seems that the claim that stereo vision only occurs in the near field case is probably wrong?

I think binocular depth resolution is roughly proportional to the space between the cameras. A car hood is much wider than a human head. I’m not sure how far you can push that without hitting issues with close up stuff.

Depends on the angular resolution of the sensor as well.

Yeah; proportional, assuming the sensor stays constant and hand waving about the FOV of the lens.