Wait, I think the topic is mixing more factors, and it would be good to split them apart.
One thing is the fact that out could happen that the system, in our view, "overreacts" because of liability compromises of the manufacturer. It cannot be overriden, and it cannot be disabled or eliminated. We just need to "adapt" to it .... If someone does not want it, then must buy a different car that either A does NOT have such assist systems or B a different manufacturer with a criterion more adequate to a particular diving style. I have in my stable vehicles far less efficient in overall braking scheme than the Superb, and everything has its pluses and minuses.
This said, what JR suggests above is gold - it was one of the first things I've done, remove the undertaking prevention, because even without it there is sufficient margin to drive within normal limits. Another thing was to disable "prediction speed limitation" which in my FL has removed the bothering "bend ahead" braking. True this works only with ACC/PCC on, but nevertheless... I did the same adjusting all parameters to "minimal/aggressive" and the car is not invasive in its assistance.
BUT
it does obviously react in some situations with pings and bong and "BRAKE" announcements ... is part of the game. Again, my older cars do not have it, matter of choice.
However, regardless of who activates the braking, being the driver OR the automated braking system, for the ABS to intervene it means not only that there was excessive braking force, but also grip on the tires has reached its limit triggering the intervention. This is worth investigating separately of the above.
I've had a few "excessive braking" events from the car assist systems, but never enough to trigger ABS intervention.
On my own, sometimes stupid, driving and braking "unassisted", I rarely ended up triggering ABS ... most cases recently are on one of the runabout, an old Micra, with old tires.
I would check how to split the problem in parts, starting by limiting its intervention as described above by JR, and then "test" to see if there is a problem elsewhere and an "oversensitive" ABS needs to be inspected.