I used .36.6 for the first time over the weekend and found, to my surprise based upon people's comments re scenarios, that AHB were not forced when using TACC. So sounds like it only affects autosteer unless its also affects normal drive too - they didn't come on at end of drive when we were off of TACC either not have I has comments from main driver of AHB coming on in normal driving conditions.
So the scenario above, with pedestrians and cyclists, its not a supported scenario for autosteer where it should not be being used, so shouldn't be an issue should it not except in not very common scenarios where pedestrians, cyclists are in close proximity (separate cycle lane running parallel to road?) to motorists on a divided dual carriageway? Unless I am missing something.