I'm with you / not wth you on this.
It shouldn't take you 1 seconds to take over. Your car just slowed from 60 to 20. That took more that one second, and ought to have given you plenty of time to take over. This is cruise control, after all, not take over driving responsibility control.
That said, I've purposefully tested the auto breaking in a near panic stop situation. I covered the brakes, ready to take over, but let the ID.4 do the work. It performed very well right up until the car II was following partially dove for the shoulder, stopping only partly in the lane. The ID.4 interpreted this as a clear lane, didn't "see" the next car immediately in front of us both, and either released brake or began accelerating — not sure which, because I mashed the brake to end the experiment.
So I agree that if there's a big reduction in speed, the system should rely heavily on the radar and and probably on the driver to resume.
But I also believe that, as I experienced it, under normal circumstances I works have taken control well before it ever got to that point.
This is why Tesla's Auto Pilot is frequently in the news: owners are giving these systems far too much leeway, believing they're more capable than they are. And Travel Assist isn't even close to Auto Pilot in capability.