This happens to me just using the adaptive cruise control, no Autopilot or FSD enabled and it's super annoying. Can happen on a completely empty road driving in a straight line.
My 2019 Subaru Crosstrek has adaptive cruise control, and i've had it hit the brakes pretty hard when there's nothing in the way. Luckily it doesn't happen often.
Is something occluding your eyesight cameras, like EZ pass?
Usually, the behavior is adaptive stuff all shuts off when the road turns to sharp or weather blocks the cameras.