My 2019 i3s, built in mid-March of this year, has camera-based ACC. Honestly, it's underwhelming, but I don't regret getting Driver Assistant Plus. ACC turns itself off regularly, whether from sun glare, oncoming headlights, or miscalculated distance. It hates vehicles parked on the side of the road, especially in turns. The most annoying part of ACC's deactivations is that sometimes it won't allow me to re-engage it immediately, requiring a preset time or distance to elapse before it is available again.
I find ACC most useful in very slow stop--and-go traffic, like freeway traffic jams, or at higher speeds on roads with fairly light traffic. It's hardest to deal with in situations where traffic speeds up and slows down between 30-60mph, as it's always a second or two behind the actual road conditions. In those cases, it's easier to just switch it to standby until traffic conditions are more favorable.
I don't have experience with radar-based systems, but I'd hope that they would be more robust.