Audi Pre-Sense was the worst offender. Looks like many others have similar experiences even this year:
I had a Nissan after that that implemented it a lot better, never any slam the brakes events. It would warn you with a beep and apply light braking first.
https://www.nissan-global.com/EN/INNOVATION/TECHNOLOGY/ARCHIVE/EMERGENCY_BRAKE/
https://archive.md/AMusN