What kind of OBD tool did you use to look for fault codes? Mondeo has two controller networks, HS-CAN and MS-CAN. Most garden-variety OBDII readers can only read from the HS-CAN. If this is yours you may find you can expose more information getting one to read MS-CAN.
There is a thread on the topic here:
https://fordforums.com.au/showthread.php?t=11449047
From the issues you're describing I don't think there's a problem with your radar sensor, it seems more likely the issue lies somewhere in the braking system, maybe the
ABS or the yaw sensor as steerage has suggested. Think about it: collision alert, traction control and hill launch all require the computer to control the brakes, and if something is wrong with that system it will impact all those other automated functions.
Hope that helps and you get it sorted
