https://practicalmotoring.com.au/car...baru-brz-work/
here's an article from 2016 outlining some basics. i'd imagine the new car an improvement on this in terms of software.
off or on just depends on the scenario. I do remember turning off my 2014's system alot because it was very intrusive... like it made it unsafe trying to merge into traffic because it would cut in so early.