And as of now, I suppose that RCAS (or RCAS-like systems) is best suited for (especially minor) single track branch lines that don't currently have a full-scale signalling system already up-and-running, but instead still rely on "Timetable & Train Order" and similar systems.

Single track means that at least outside of stations, collisions can be reliably identified without much danger of false positives (and for station areas you can just institute a blanket speed limit to compensate for the gap in RCAS coverage, which might not even be any lower than the speed limit required for traversing diverging/spring-operated/hand-operated points there anyway), and no already existing full-scale signalling system means that RCAS actually provides a significant safety benefit and is therefore likely worthwhile from a cost-benefit-analysis point of view, too, if you're actually regularly operating multiple trains simultaneously on that kind of infrastructure.

Whereas on multi-track mainline railways avoiding false positives is much harder and normally you should already have proper signalling and train protection systems in place anyway, so the additional safety benefits of RCAS would be much more marginal.

But it must be also cheaper and more reliable than the current system, otherwise nobody is going to implement it.

In addition to that being unpractical, the train doesn't even know the state of switches, i.e. not whether it is on the same track as some other position. It's just that this is undecidable for a single train. (This is what my first comment was about, it's simply not known how to solve it on the level of a single train, likely because it is impossible.) However the answer for what to do if a train can't trust the network, is don't move. Or move by sight, which is limited to 40km/h for good reason.

On the other hand this is a complete non-issue and solved for more than a century on the network level. So there is zero need to invent satellite or vision based train detection at worst even using statistical systems, when you can use deterministic systems, for example using the fact that a train is out of metal, so it's detectable by the train closing a electric circuit between the rails. Or using the sensors that are installed at every signal, switch or other positions for precisely this question.

It can be on the other track right now, but change to your track in the future. Or in other words, the topology of the network changes in operation. Whether the track you are on and the track another train is on, is the same or not is not decidable without knowing the current network state.