(Would've been better to start a new thread for this. Braking question? Sure - just search under "Mystical Sound"

)
For my 2021 P8 (not sure about newer models), it seems auto-braking to PREVENT a collision only happens while backing up in reverse. I've experienced this - feels like you backed up into a brick wall.
While going forward, the full-stop auto-braking only happens AFTER a collision. From the 2021 user manual:
Braking assist after a collision
Updated 1/25/2021
In a collision in which the activation level is reached for the pyrotechnic seat belt tensioners or airbags, or if a collision with a large animal is detected, the vehicle's brakes will be automatically activated. This function is intended to help prevent or reduce the effects of any subsequent collision.
After a serious collision, it may no longer be possible to control and steer the vehicle. In order to avoid or mitigate a possible further collision with a vehicle or an object in the vehicle's path, the brake assist system is activated automatically to help stop the vehicle safely.
The brake lights and hazard warning flashers are activated during braking. When the vehicle has stopped, the hazard warning flashers will continue to flash and the parking brake will be applied.
If braking is not appropriate, e.g. if there is a risk of being hit by passing traffic, the driver can override the system by depressing the accelerator pedal.
This function assumes that the brake system is intact after a collision.