Sounds like it could be the hidden assist bug which @WhiteBurrito42 mentioned. The only workaround that I know of that actually works is to turn on every assist to maximum, drive around in the open world (only needs to be for a second, as long as you move a non-zero amount you are good) and then reset your settings to your preference.
I have tried setting just the things that I think are broken and it did not work. It has to be everything. Auto-braking, auto-steering, the whole lot.
Some people have never been hit by it. I’m up to about 4 times now. Thankfully, the workaround has worked every time for me. Hopefully this is it and it solves your issue.