I've also had the ACC / Drive fault issue ! in the UK ....
I've had my ID.4 for a week now, on days 1 & 2 it threw up some intermittent ACC fault issues briefly. Then in day 4 it came on all morning, nothing seamed to clear it. A local dealer suggested where the sensors were, and advised cleaning the areas (below the front VW badge and the camera zone top of the windscreen), the ACC issue then vanished.
The on day 5 electrical drive fault message, it would go off, then come back on again! It was only when the car was left to "rest" for approx 30mins the message went. I called a local dealer, due to updating ID.3's with s/w 2.1 they were so busy, can't see the car until the 14th April ! But was advised to call the UK AA/VW Mobile Assist service (which is included in the purchase of the car for 3 years), they were unable to diagnose the issue - as they've not been issued with the update to their diagnostics that would allow them to read the "ID.4", the car is apparently "too new"!
The next day, all the faults had gone (but I had pictures to prove what had happened), now day 8 - no further errors. But after raising the issue with VW UK, they want the car to go into a dealer to "read the error log" and see if they can diagnose what might be happening, I'm waiting on VW UK to organise this. I suspect as MB has mentioned, they won't find anything.
A nice car, but somewhat let down by the software / faults ! :-(