No suggestions from the dealer, no thoughts at all?
My first would be a faulty nearside radar sensor, possibly dodgy connection or chaffing loom.
The headlamps not dipping, gotta be something with the front screen mounted camera, either adjustment/alignment or possibly a screen blemish.
Any or all would throw up some error codes, or be fairly easy to check.
I'd suggest taking the car to another dealership. Exactly how new is the car, how many miles on the clock?