Just to follow up on this post, my frame seems to be fine. I got new Cooper tires last December and have about 30k miles on them now, they are wearing nice and even with 10k mile rotation intervals.
As for the brake assist, I still get it occasionally, but have learned to keep it under control most of the time.
if you did not go to a frame shop that uses computer aided measuring to check for the frame being in spec then what happened is the typical wheel alignment shop could adjust for the frame damage.
a bent frame from a rear hit usually causes the vehicle not to track properly. the front axle and the rear do not follow exactly ,,,. in severe cases following a vehicle moving , with this issue , it can be seen