No, we don't. ADS-B transponders do not negotiate with each other in real time to compute a mutual avoidance maneuver and provide audio guidance to the pilots of what to do to avoid a collision.
ADS-B is better than nothing, but all it does is report where another airplane claimed to have been about 20-30 seconds in the past.
Flying formation with people while watching their ADS-B return is very illuminating.