I got 2021.4.2 last night and installed it. Since you mentioned that you were told this fixed the issue, I thought I would take some pictures.
Bottom line, I don't think it mattered. Here's three.
This picture is with no lights. I got in the car, pulled up the camera didn't turn the headlights on. Garage is dark and doors are closed.
You be the judge. Did 4.2 help?
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This picture is with my foot on the brake. Most lighting is coming from reflection of headlights from the white garage door.
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Final picture. Foot off the brake. Car in Reverse (you can see the marker lines) and headlights still on.
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Can you try with the garage door open or with your headlights off? On a dark street or parking lot, you won't have your own headlight reflection to help. Still, it's not as bad as I expected.