I've no experience but would collision assist have some dash indication?
Yes, it's a 3-stage thing (on our 2019 S205, anyway) depending on the perceived risk of collision:
1. Warning light on the cluster
2. As 1 above plus alarm beep
3. As 2 above plus brake application
The first is reasonably common in traffic with people changing lanes etc. Have had the second a couple of times with oncoming traffic on bends. Have never personally had the third but I agree it's very likely what happened here.
I know there are various 'flavours' of collision prevention on MBs ... the main variation I think is whether it looks at crossing traffic (coming from 90 deg to the left & right) ahead. Our C Class doesn't have this.