I was driving straight on a expressway and the closest car in front of my was probably 6-7 car lengths away. There were no cars near me on the sides.
The red BRAKE warning came on in the display in the center of the instrument panel (2020 SR5 Premium) for a second or two and then didn't return. The brakes were not applied it was only the warning light.

It’s the first time this has happened. It’s kinda weird since I was going in a straight line. There was a new Porsche Spyder in front of me. I’m wondering if it might have had some odd/new monitoring system or something that caused my 4R to momentarily react. I did have the radar cruise control turn off once and I found a huge wasp stuck to the sensor in the front of the vehicle. After I cleaned it off the error was gone. There was no BRAKE warning when this happened.

It was probably the crack in your windshield confusing the camera.

Crack is way below and way to the left of the camera.
I would think the radar sensor would be what is used to control emergency braking anyhow.

Drove in heavy HEAVY rain the other day and received a message that stated it was disabled and to clean sensor.

Similar: Has heavy rain disabled your pre-collision sensor? | Tacoma World

The “fix” (???): Toyota's Bandaid Fix for Tacoma & Tundra PCS Sensor | Don't Do This At Home! - YouTube


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Rich, it's happened a few times to my '20 too with nothing in front of me. No idea what caused it.