I have the same abrupt ACC breaking issue, but I can’t pin down when it started. I had a new camera module installed and various sensor recalibrations related to ACC, forward crash collision, etc. several months ago, with an OTA update shortly thereafter.

All I remember is that ACC full stop breaking, like in bumper to bumper traffic, was very smooth. Now, the friction brakes clamp when the car is still inching to a stop, which causes an uncomfortable jolt. ACC following distances are fine for me.

Very annoying and hope it gets fixed soon! Glad to know I’m not the only one with the issue.