The settings I have always used may be worth trying before you give up on Autopilot.
The last time I had a serious braking incident was back in 2020 (about 25k miles ago in my original Tesla, a Model 3). I always use AP with my right foot above the accelerator and do very occasionally get a gentle slowing as the car misreads the road or map but can instantly accelerate to overrule. However, even this is extremely rare and I am confident to use AP regularly with or without passengers.
The car is in control of driving but I am in control of actions to be taken in the event of an alert & this seems to work well.
Maybe I'm just lucky but this is with two different Tesla Models both using my cloud profile, 22k miles on one & 10k so far on the other.
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