I'm not sure exactly which version introduced this behavior but I'm on 2019.20.4.2 on both my 3 and S and I've noticed the stopping performance for completely stopped cars has improved significantly. Previously when traveling over 45 mph the car's ability to see and stop for cars that are completely stopped was pretty iffy. Sometimes it would, other times it wouldn't and often times it would hesitate a lot, slowing down then speeding up before finally slowing down. Recently I've been noticing it working consistently and even at speeds around 65 mph. In a related note I also had a pedestrian cross in front of me today and the car slowed down and yielded. Although I'd seen pedestrians on the display before this is the first time I've had the car react to one in the road. Pretty impressive performance recently... Have other's noticed a change?