Don't take this as gospel as I'm not a toyota engineer... However, I believe the majority of the crash avoidance tech is the radar behind the toyota logo in the grill. This is what's going to control the emergency braking for example.
It's my understanding that behind the rear view mirror is the camera for the lane assist. I believe that the recommendation is NOT to use white antenna as it confuses the camera as it might look like a lane on the road.
I have a black antenna on my 2018 and it did not interfere with the lane assist camera (it's one of the 'thick' antenna too, no problem).
Personal experience - your milage may vary.
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