Thanks for your observations, nb_irger.
I just checked and my 'Warn early all-round' function is set to OFF and I think it has been like that since I took delivery of the car. Disabling Parktronic seems to be the most effective way to stop the rear camera door opening 'unnecessarily', other than when reversing (although you can also turn the reversing camera off if you don't want it at all).
I tend to go through the following sequence for each trip:
- select Individual in Dynamic Select
- deactivate Parktronic
- select appropriate speed limit with the Speed Limiter
- select '-' once in D.
It's a bit of a rigmarole and I wish I could set the first two and the fourth in my Profile so that they become the defaults when I'm the driver.
I previously drove a Honda CR-V and it remembered your most recent Speed Limiter setting, so all you had to do was activate the Speed Limiter when setting out on a drive and the set speed was usually correct for that location.