Dynamic All-Speed Radar Cruise Control (DRCC), Lane Departure Assist, Lane Keeping Assist, Intelligent High Beam, Blind Spot Monitor and Rear Cross Traffic Alert (RCTA) are all standard safety technologies available on the Lexus IS.
Both the Audi A4 and the BMW 3 Series offer safety technologies, but they are mostly optional and can increase the price quite a bit.
At the end of the day, the 2021 Lexus IS is the most recent car to arrive in the compact luxury sedan segment and as such, it has the best of everything at a better price point.