The paper features a defense of ADAS by Thatcham Research principal automated driving engineer Colin Grover, who claims much of the tech “operates in the background, like autonomous emergency braking … not all ADAS adds distraction … it is there to help when needed.”
Your first quote is only referring to ACC which maintains speed and distance between you and the car in front of you, but doesn't include automatic braking, something included on all the cars with these systems currently.
I'll ask again, how do you achieve level 4/5 autonomy if you ban these from the road and they never get real world testing.